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19511 Commits

Author SHA1 Message Date
Beat Küng c9652fd42a logger: update set of default topics to match functionality of sdlog2 
logging rate with these topics: ~50KB/s

The rates may need to be adjusted
 2016-07-11 10:04:44 +02:00
Beat Küng 4ec9e53deb param SYS_LOGGER: remove experimental for new logger 
It's ready to be used!
 2016-07-11 10:03:02 +02:00
Beat Küng 68e14ceb29 tap startup script: add -t param for logger 2016-07-11 10:01:16 +02:00
Beat Küng 49614cfe38 SITL init scripts: add replay tryapplyparams & replay trystart 
These will only start replay if there's an environment variable 'replay',
otherwise they do nothing.

We apply the parameters even before loading the modules, so that the
modules 'see' the same state as the recorded system had. We will have to
see how well this works in practice.
 2016-07-11 09:26:35 +02:00
Beat Küng db13ac4c53 posix_sitl_default.cmake: add -DORB_USE_PUBLISHER_RULES if it's a replay build 2016-07-11 09:25:16 +02:00
Beat Küng e9726af54c Makefile: check for 'replay' env variable and change build dir accordingly 
For replay with the new logger, we want a separate build dir so that the
parameters file and orb rules don't get mixed up.
 2016-07-11 09:25:07 +02:00
Randy Mackay 80134d2b7d IR-LOCK: rework driver (from jschall) (#5024) 
* irlock: change output format to tangent of angles

* irlock: put all targets in single struct

* irlock: eliminate tanf function in constant
 2016-07-11 09:05:29 +02:00
Lorenz Meier 71d150f6ec MAVLink app: Fix rate handling 2016-07-10 17:05:33 +02:00
Lorenz Meier c7130081cc Update ECL 2016-07-10 16:33:07 +02:00
Lorenz Meier 02b3adc4a7 Update DriverFramework 2016-07-10 16:32:59 +02:00
Lucas De Marchi 18330f7ab7 Move __STDC_FORMAT_MACROS to build system 
__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.

Instead of having to define it everywhere it is used, move the define to the
build system. Also update ecl and DriverFramework submodules to deal with the
changed definitions.
 2016-07-10 16:31:36 +02:00
tommises d2194d787f Refactored Mavlink stream configuration (#5015) 
Streams ordered same way in all modes.
 2016-07-10 16:22:22 +02:00
Lorenz Meier f39d284193 Update vision fields for attitude_estimator_ekf 2016-07-10 14:21:56 +02:00
Lorenz Meier 7601788c43 INAV: clean up vision timestamps 2016-07-10 12:44:00 +02:00
Lorenz Meier 8b3045baa2 MAVLink: clean up vision timestamps 2016-07-10 12:43:47 +02:00
Lorenz Meier c0a406b81f LPE: Clean up vision timestamps 2016-07-10 12:43:34 +02:00
Lorenz Meier 826eaed2ee EKF2: Clean up vision timestamps 2016-07-10 12:43:21 +02:00
Lorenz Meier 4f875560b7 Att Q Estimator: New vision timestamp 2016-07-10 12:43:10 +02:00
Lorenz Meier 07384d6b5a Vision msg: Cleanup timestamp 2016-07-10 12:42:56 +02:00
tommises 19b56c1574 Use timestamp received from companion computer as timestamp_boot 2016-07-10 12:29:19 +02:00
tommises 5bd574dd05 Fixed timestamp synchronization 2016-07-10 12:29:19 +02:00
tommises f69e9a3d37 Fixed VISION_POSITION_ESTIMATE.usec 
Fixed units to be microseconds and not milliseconds.
 2016-07-10 12:29:19 +02:00
David Sidrane a23785842c tap-v1 Uses New PWM LED driver structure 2016-07-10 11:46:47 +02:00
David Sidrane ea4d9a34fd mindpx-v2 Uses New PWM LED driver structure 2016-07-10 11:46:47 +02:00
David Sidrane a36f392b58 Rework PWM LED Driver 2016-07-10 11:46:47 +02:00
David Sidrane da96144e80 Added Power button and cleanup sdio 2016-07-10 11:46:47 +02:00
David Sidrane 5de19500c2 TAP-v1 set Console Baud Rate to 57600 2016-07-10 11:46:47 +02:00
Mark Whitehorn 09227526b6 enable use of GPS time for new logger folder/file naming (#5010) 2016-07-10 11:15:27 +02:00
Lorenz Meier 7afe2e8dd8 Iris SITL: Default gains 2016-07-08 00:02:48 +02:00
Lorenz Meier eb6af9afb9 VTOL updates 2016-07-07 23:30:57 +02:00
Lorenz Meier 38652ec940 SITL: Re-tune multicopter gains 2016-07-07 23:28:21 +02:00
Miguel Arroyo 3c11c0d8d8 Adds Calibration Support for RPi2 and Navio2 (#4999) 2016-07-07 22:38:17 +02:00
Andreas Bircher 2317589950 fixing the publishing of the triggering stamps (#5005) 2016-07-07 16:50:46 +02:00
Lorenz Meier e86c1851a7 Mag fusion update to ECL 2016-07-07 16:49:28 +02:00
Julian Oes ddba274496 sdlog2: fix poll_counter that I broke earlier 2016-07-07 16:48:27 +02:00
Julian Oes 544ea72d4c Snapdragon: set CPUs scaling to performance mode 
Sdlog2 misses least updates when the CPU scaling governor is set at
maximum performance. This is not optimal to save power but the best
effort until there is a RT patched kernel on Snapdragon.
 2016-07-07 16:48:27 +02:00
Julian Oes 03dbcf5464 sdlog2: don't forget to copy after poll 
The previous changes broke sdlog2 on NuttX because no orb_copy was
called after polling in the case when sdlog2 was not actually logging.
 2016-07-07 16:48:27 +02:00
Julian Oes 772dc302b6 sdlog2: raise min write size back 
Turns out in practice there was not really a difference, so there was
no reason to change it.
 2016-07-07 16:48:27 +02:00
Julian Oes fe91527604 sdlog2: poll for sensor and replay on Snappy 
This brings better performance, so less missed updates on Snappy, as
well as a bit of a cleanup of the poll and orb_copy logic.
 2016-07-07 16:48:27 +02:00
Julian Oes 5f18f9bbba sdlog2: select MIN < MAX bytes to write 
Previously, the MAX and MIN were both 512 meaning that usually it would
start writing at > 512 bytes but only write 512 bytes which results in
a 512 bytes write shortly followed by a e.g. 30 bytes write.

Also, performance (measured in missed poll updates) seems slightly
better on Snapdragon with bigger chunks.
 2016-07-07 16:48:27 +02:00
Julian Oes 1631cfdc83 Eagle: SDLOG_PRIO_BOOST to raise sdlog2 priority 
This should lead to less drops on Snapdragon although it's hard to
verify this.
 2016-07-07 16:48:27 +02:00
Julian Oes f7bb43b20b DriverFramework: update submodule (#5004) 
This brings various PRs and fixes.
 2016-07-07 16:24:13 +02:00
Beat Küng 168c744232 replay: fix string printf output: add .c_str() 2016-07-07 12:51:42 +02:00
Beat Küng 6e44760819 replay: add 'tryapplyparams' command 
This only applies parameters from the log file and user-supplied overrides.
It is intended to be called as one of the first startup commands (after
param load), so that during startup, all applications find the parameters
from the replayed system.

Note that this is an optional command and 'replay start' will again load
and apply the parameters in any case.
 2016-07-07 12:51:42 +02:00
Beat Küng 84a1a10006 logger: check if we are in replay mode via ENV variable 'replay' 2016-07-07 12:51:42 +02:00
Beat Küng 28ad6066aa replay: add replay module, build for sitl_default, but do not load on startup 
This adds a new module that does:
- read an parse an ULog file, given via ENV variable 'replay'
- apply all parameters from the log file
- read and apply user-defined override parameters from a file
- publish all messages in 'real-time' from the log file and add a constant
  offset to the timestamp to match the system time.
- apply changed parameters in the log (which are not overridden)
 2016-07-07 12:51:42 +02:00
Beat Küng ffcefd9047 orb: read & apply publisher rules from file (currently disabled via #ifdef) 
If enabled, orb reads a rules file (./rootfs/orb_publisher.rules) on
startup. This can contain rules about which module is allowed to publish
which topic. It is completely transparent, so a publisher does not know
if he's not allowed to publish, and publications will look as if they
succeeded.

To test, add
#define ORB_USE_PUBLISHER_RULES
to uORBManager.hpp
 2016-07-07 12:51:42 +02:00
Daniel Agar 4252511b8e add bitmask param metadata 2016-07-07 12:42:59 +02:00
Andreas Bircher 9974b6f747 Camera trigger update (#4998) 
* updating the camera driver, correct init and keepAlive function

* removing debug output
 2016-07-07 11:40:11 +02:00
Lorenz Meier 15880f8d13 Less verbose 2016-07-07 11:40:11 +02:00