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Author SHA1 Message Date
Murilo Belluzzo
43d4012884 AP_HAL: Fix TOCTOU in ByteBuffer::peekiovec() 2016-07-08 13:10:16 -03:00
Murilo Belluzzo
9951b94d40 AP_HAL: Change the return type of 'peekiovec' 
Possible values are '0', '1' and '2' so uint8_t is a better fit. Also,
invert 'if' condition so it's clear that is returning 0, 1 or 2.
 2016-07-08 13:10:16 -03:00
Murilo Belluzzo
625f47def7 AP_HAL: Improve ByteBuffer::set_size 
So it doesn't delete and re-create the buffer if the size
happens to be the same. Still resets the buffer content.
 2016-07-08 13:10:16 -03:00
Murilo Belluzzo
e9e31172c0 AP_HAL: Simplify ByteBuffer::readptr logic 2016-07-08 13:10:16 -03:00
Leandro Pereira
fbefe32017 AP_HAL: Add method to reserve space in the ring buffer 
Adds a method called `reserve()`, that will take a ByteBuffer::IoVec
array of at least two elements, and return the number of elements
filled out.  0 will be returned if `len` is over the total space of
the buffer; 1 will be returned if there's enough contiguous bytes in
the buffer; 2 will be returned if there are two non-contiguous blocks
of memory.

This method is suitable to be used with POSIX system calls such as
readv(), and is an optimization to not require temporary memory copies
while reading from a file descriptor.

Also modify the write() method to use reserve(), so that similar checks
are performed only in one place.
 2016-07-08 13:10:16 -03:00
Leandro Pereira
e3b676ba89 AP_HAL: Add method to peek non-contiguous parts of a ByteBuffer 
Modify ByteBuffer class to have a `peekiovec()` method, that takes in a
`struct IoVec` array (similar to `struct iovec` from POSIX), and a
number of bytes, and returns the number of elements from this array
that have been filled out.  It is either 0 (buffer is empty), 1
(there's enough contiguous bytes to read that amount) or 2 (ring buffer
is wrapping around).

This enables using scatter-gather I/O (i.e. writev()), removing calls
to memcpy().  That's one call when no wrap-around is happening, and
two calls if it is.

Also, rewrite `ByteBuffer::peekbytes()` to use `peekiovec()`, so that
some of the checks performed by the former are not replicated in the
latter.
 2016-07-08 13:10:16 -03:00
Andrew Tridgell
c926d7d41f Plane: fixed typo in quadplane landing detector 
thanks to Paul for spotting this!
 2016-07-08 18:38:43 +10:00
Andrew Tridgell
1a3b292aa3 autotest: fixed run_in_terminal_window() on Linux 
try to retain MacOS functionality too
 2016-07-08 08:20:20 +10:00
Lucas De Marchi
efb6b4c57e DataFlash: ifdef both __APPLE__ and __MACH__ 
This is how we do in other places and should mean that we are targetting
MacOS, not other apple products or other OSes using a mach kernel.
 2016-07-07 12:41:51 -03:00
Siddharth Bharat Purohit
d65f453da1 AP_HAL_SITL:use common fenv function 2016-07-07 11:35:18 -03:00
Lucas De Marchi
c728b6c164 AP_Common: missing/fenv: fix coding style 2016-07-07 11:35:18 -03:00
Siddharth Bharat Purohit
484db9ff82 AP_Common: add replacements for fe control functions systems without them 2016-07-07 11:35:18 -03:00
Lucas De Marchi
e2498a1090 autotest: add function to kill tasks on MacOS 
Like done on other cases, add an explicit function for that, which turns
the comment redundant.
 2016-07-07 11:35:18 -03:00
Siddharth Bharat Purohit
4f0dad19ea autotest: support mac osx terminal launch 2016-07-07 11:35:17 -03:00
Siddharth Bharat Purohit
71c2f69a63 waf: add support for sitl build on mac 2016-07-07 11:35:17 -03:00
Lucas De Marchi
1923d9029e mk: use SYSTYPE for Darwin and append to LIBS 2016-07-07 11:35:17 -03:00
Siddharth Bharat Purohit
98c97a689f MK: remove unused and undefined librt as build flag for macosx 2016-07-07 11:35:17 -03:00
Siddharth Bharat Purohit
8903bc9eab AP_HAL: add support for get realtime on Darwin systems 2016-07-07 11:35:17 -03:00
Andrew Tridgell
3a8ed06267 Copter: added TKOFF_NAV_ALT parameter 
this adds TKOFF_NAV_ALT which controls the altitude above takeoff that
navigation can begin. It is meant for unstable vehicles such as helis
to prevent blade strike during initial takeoff.

This also adds a new parameter class ParametersG2 which can hold 64
parameters. This is to avoid running out of parameters in the first
256 block
 2016-07-07 14:21:47 +09:00
Andrew Tridgell
f090e9b27c HAL_Linux: fixed makefile build with PRIu64 2016-07-07 15:10:59 +10:00
Lucas De Marchi
3ba27df405 AP_Compass: BMM150: minor refactors 
- Correctly sort includes and add missing AP_Math.h
  - Use anonymous struct for trim_registers in _load_trim_values,
    renaming its members so they don't start with underscore
  - Don't change _dig* values when we failed to read from sensor
  - Add some blank lines
  - Make _dig_* members be inside a _dig struct
  - Use constrain_int32 instead of if/else chain
  - s/time_us/time_usec/
  - Construct raw_field with a single constructor in _update()
  - Add missing copyright notice
  - Group methods together in declaration
 2016-07-06 10:04:05 -03:00
José Roberto de Souza
6e53854122 AP_Compass: Add BMM150 backend 2016-07-06 10:03:30 -03:00
stefanlynka
fd2eb8bb31 Tracker: Adding altitude difference calculation using relative altitude. 2016-07-06 16:55:13 +09:00
stefanlynka
ca22f6612d Tracker: Changing pitch_range to pitch_min and pitch_max 2016-07-06 16:51:31 +09:00
stefanlynka
18e51da12d Tracker: Changed yaw slew margin 2016-07-06 16:40:22 +09:00
Andrew Tridgell
b6f58bdd98 Plane: don't give tuning errors when VTOL inactive 2016-07-06 14:41:49 +10:00
Randy Mackay
50bfd6e7fd Tracker: set armed state in mavlink heartbeat 2016-07-06 12:01:12 +09:00
Randy Mackay
a079c7bf4c Tracker: bug fix re ignoring invalid START_LAT message 2016-07-06 12:01:04 +09:00
Fernandes Pinheiro, Daker
51bf638ad3 PID: Remove unused method get_pid_4500 2016-07-06 08:45:01 +09:00
Tom Pittenger
19713200e5 AP_TECS: coverity scan: init variable struct 2016-07-05 14:09:40 -07:00
Tom Pittenger
6d0cf22358 AP_TECS: spelling 2016-07-05 14:09:39 -07:00
Tom Pittenger
753c0d47f0 AP_TECS: coverity scan - variables not initialized in constructor 2016-07-05 13:53:26 -07:00
Tom Pittenger
5f16d873b8 AP_L1_Control: coverity scan - ignoring get_position() result 
- if no GPS location is available, do not continue computing navigation values. Hold old nav/target bearings and allow GPS failsafe to switch modes
 2016-07-05 13:32:34 -07:00
Tom Pittenger
a74e86c234 GCS_MAVLink: coverity scan - computed value overwritten without use for SITL 
- when building for SITL we should just skip the num_sends work instead of overwriting the value
 2016-07-05 13:32:29 -07:00
Tom Pittenger
bd8debdf8b GCS_MAVLink: coverity scan - variables not initialized in constructor 2016-07-05 13:32:24 -07:00
Tom Pittenger
8d2872d3ab AP_Baro: coverity scan - variables not initialized in constructor 2016-07-05 13:32:06 -07:00
Tom Pittenger
93462d0fe3 AP_Airspeed: coverity scan - variables not initialized in constructor 2016-07-05 13:32:00 -07:00
Tom Pittenger
9b807fa8a5 Plane: coverity scan - variables not initialized in constructor 2016-07-05 13:31:51 -07:00
Tom Pittenger
d558f32142 AP_L1_Control: coverity scan - variables not initialized in constructor 2016-07-05 13:28:52 -07:00
Andrew Tridgell
96d785f1c6 Plane: added auto_navigation_mode flag 
this fixes a problem where modes like loiter and auto would allow for
rudder stick mixing even with STICK_MIXING=0
 2016-07-05 12:52:13 +10:00
Andrew Tridgell
0be442d34b SITL: improved throttle input in XPlane 
reduce chance that throttle output will be interpreted as input
 2016-07-05 09:48:40 +10:00
Andrew Tridgell
f387f248d3 SITL: added support for servo slew rates and retract servos 
this is for tiltrotors with retract servos
 2016-07-05 09:40:37 +10:00
Randy Mackay
c368cb07c2 Git: ignore ral.txt files 2016-07-04 22:08:26 +09:00
Luis Vale Gonçalves
334233d48f AP_BoardConfig: fix spelling in parameter description 
witch ->no
switch->yes
 2016-07-04 21:59:30 +09:00
Randy Mackay
877a144dea Copter: pre-arm check that rally points are within fence 2016-07-04 18:25:03 +09:00
Randy Mackay
2647bed484 Copter: guided mode uses modified check_destination_within_fence 2016-07-04 18:25:03 +09:00
Randy Mackay
e820506c5a AC_Fence: add polygon fence check to check_destination_within_fence 2016-07-04 18:25:03 +09:00
Randy Mackay
a9d1dcd6ac AC_Fence: trigger reloading of polygon fence if update from GCS 
The GCS can either modify a point with a mavlink message or directly change the FENCE_TOTAL parameter value
 2016-07-04 18:25:03 +09:00
Jonathan Challinger
0eac5a5c8f AC_PrecLand: remove zero terms from math 2016-07-04 16:57:06 +09:00
Jonathan Challinger
b5e80148c6 AC_WPNav: remove shift_loiter_target 2016-07-04 16:57:06 +09:00