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53 Commits

Author SHA1 Message Date
abeck70
7fd08ef990 OP-1858 takeoff in nav address code review comments 2015-05-08 22:04:44 +10:00
abeck70
16cc9f1512 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1858-autotakeoff 2015-05-04 21:15:24 +10:00
abeck70
5ca9d979e6 OP-1858 if previous mode was autotakeoff, ignore wp start position and go from current position. 2015-05-04 21:14:54 +10:00
Philippe Renon
b4b93bee93 Merge remote-tracking branch 'origin/rvonlehe/OP-1740_UAV0_GetSetFunctionsTakeEnum' into next 2015-05-02 16:34:15 +02:00
abeck70
0eb84cd8f6 OP-1867 pathplanner autoland 
Setup land with descent rate set from flight mode settings.
 2015-04-30 22:54:38 +10:00
abeck70
d6de7803e1 OP-1858 autotakeoff pathplanner fixes 2015-04-29 20:27:30 +10:00
abeck70
b14a966088 OP-1858 autotakeoff and pathplanner 
1. Allow arming in pathplanner
2. Typo in comment
 2015-04-28 20:54:44 +10:00
abeck70
210b15db4d OP-1858 autotakeoff in pathplanner 
1. Allowing arming in pathplanner
2. Takeoff activation requires throttle to be above 30%
3. Takeoff occurs at the current/actual position and rises vertical to the settings altititude.
4. The details of the takeoff waypoint are effectively ignored - this is a simplicifcation to avoid having to have pathplanner inject a flyvector command from the current location to the waypoint
5. We hard code the condition check for autotakeoff as only one mode is supported.
 2015-04-27 23:01:47 +10:00
Richard von Lehe
f3611591e0 Merge branch 'next' into rvonlehe/OP-1740_UAV0_GetSetFunctionsTakeEnum 
Conflicts:
	flight/modules/PathFollower/inc/vtollandcontroller.h
	flight/modules/PathFollower/vtollandcontroller.cpp
	flight/modules/PathFollower/vtollandfsm.cpp
 2015-04-26 17:45:36 -05:00
abeck70
d943f5a0ce OP-1760 autotakeoff 
On landing stausvtolland state of DISARMED, armhandler  now detects this and disarms by force equivalent to a pathplanner alarm trigger.

To re-arm, one must leave the land flight mode.
 2015-04-20 08:43:57 +10:00
abeck70
c4aa17a04c OP-1760 autotakeoff pathplanner now uses pathstatus in conditionLegRemaining 2015-04-17 23:06:02 +10:00
abeck70
88b0c99087 OP-1760 autotakeoff in pathplaner: control to start location instead of end location in NE 2015-04-17 22:44:05 +10:00
Rich von Lehe
e6de41855b OP-1740: GetSet use enums: Getting more files to conform to using enums instead of uint8_t... 2015-04-11 15:43:04 -05:00
Werner Backes
e42c6e4265 Fixed PathPlanner's 3D mode for the case of non-custom crafts. 2015-04-03 16:32:33 +02:00
abeck70
88494e2745 OP-1696 PathFollower rewrite in C++ and Landing Squashed commit of the following: 
commit 580cd8addafadc3109b90b1fd183130ea8add7f2
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Mar 20 21:32:33 2015 +1100

    OP-1696 Cleanup and bug fix

    1. Code review cleanup
    2. Fixed gps assist braking - the thrust limits in piddown were not being set.

commit 31ac4494f6e2bc5859f49d1f76f19fe3a4d32862
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Mar 18 08:31:16 2015 +1100

    OP-1696 fix initialisation of down pid control parameters

commit a7bd737459249530bde9546b8247dd45b40dced4
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 17 21:18:38 2015 +1100

    OP-1769 Actuator fix from code review

commit 968172b8fb46c91b2611be4825e17faf2fa13411
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 17 21:01:11 2015 +1100

    OP-1696 fixed ground pathfollower settings xml

commit 721c07b67a87911ed67d0b62aa658cfac6d3eb97
Merge: f556215 be9f4ae
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 17 20:52:01 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit f556215ddbd5a29b22c2e6124372d74a0d6b9a0f
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 17 20:51:22 2015 +1100

    OP-1696 ground pathfollower fixes

commit 4584b22d6a2d33d3efb1cd11ac46804a5623a236
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 17 18:11:52 2015 +1100

    OP-1696 Ground redesign

    1. Move to new PID loop design
    2. Prototype steering control

commit b70c3373646fa758ae30a59765b8a56df7d2fbeb
Author: abeck70 <abeck70@icloud.com>
Date:   Sun Mar 15 18:42:06 2015 +1100

    OP-1696 ground pathfollower added missing call to update velocity state

commit a282bfb14dffcd486466b60be3100d26c11649ef
Author: abeck70 <abeck70@icloud.com>
Date:   Sun Mar 15 17:22:02 2015 +1100

    OP-1696 ground pathfollower improvements

commit f56ea4f9b101415e32e4464e51e087ee350be969
Author: abeck70 <abeck70@icloud.com>
Date:   Sun Mar 15 07:44:01 2015 +1100

    OP-1696 remove unused PID controller in ground for vertical

commit 6424aa0a84c3718a5a7b51fab1c9e04587d325b8
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Mar 14 21:40:58 2015 +1100

    OP-1696 Initialise vtolemergencyfallback variables

commit 5d6110499bb06fe9b397e09dea5aafe994f03d13
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Mar 14 21:30:21 2015 +1100

    OP-1696 vtolflycontroller segv fixed and uncrustify

commit bef23ea3dc2b5aff5b9b8713802586719b8f68cf
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Mar 14 20:50:05 2015 +1100

    OP-1783 PathPlanner

    Instead of config alarm if no pathplan, simply continue to alarm pathplan, but allow normal arming and flight in other modes.  If pathplan enabled, simply enter position hold.

commit 370f1747209cca7c01c071a43224ad83b04bdd55
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Mar 14 20:48:22 2015 +1100

    OP-1769 Ground code review comment

    1. Remove idx1 < 0 check not needed
    2. Should return abs_input in the corner case that curve is "invalid".

commit 01973c656d783e035ad823c267d3387bf473eebe
Merge: be07d12 5c9b6fa
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Mar 14 12:17:31 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit be07d125f42b5ca1aabce0f5c0fcf592e8cddf98
Merge: 44afdc7 ad44b31
Author: abeck70 <abeck70@icloud.com>
Date:   Thu Mar 12 21:55:52 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 44afdc77987049dc58cdf42e3be88b7eae38de02
Author: abeck70 <abeck70@icloud.com>
Date:   Thu Mar 12 19:35:55 2015 +1100

    OP-1696 fix startup

    Fix initialisation and void use of pios_malloc at startup

commit 962f5f75756883cec6726c0347310d60264f6989
Author: abeck70 <abeck70@icloud.com>
Date:   Thu Mar 12 18:48:04 2015 +1100

    OP-1696 undo changes to make file

commit 7fa71d5c614d492cb4026312672068f92a4bcd3e
Merge: 672732e 5a9cfa6
Author: abeck70 <abeck70@icloud.com>
Date:   Thu Mar 12 18:06:59 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 672732e95d555946300ef5093f687f3fa88bfd3a
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Mar 11 12:59:44 2015 +1100

    OP-1696 code review comments

commit 73b295d6515f2489b3b3a61459c975b0c37afe3d
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Mar 11 12:47:24 2015 +1100

    OP-1696 code review comments

commit 524b72f537fe922bf3c4385b418872f13819a5cf
Merge: 6beef01 ba5f395
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 10 23:19:06 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 6beef01476d06598652a10de4857e6ae55015417
Merge: 100cf33 8c31f96
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Mar 7 16:50:32 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 100cf335d187fe696d3678371b194fc3044a1c7e
Author: Alex Beck <abeck70@icloud.com>
Date:   Thu Mar 5 22:32:30 2015 +1100

    OP-1696 simposix c++ compilation fix

commit 9ebf846d1ec8fef30ffc1204546fc5dc648ec10b
Author: Alex Beck <abeck70@icloud.com>
Date:   Thu Mar 5 21:35:39 2015 +1100

    OP-1696 fix simposix c++ compile of pathfollower

commit a86b4b1db46dba569739587ee57b03460381ebab
Author: abeck70 <abeck70@icloud.com>
Date:   Thu Mar 5 18:03:51 2015 +1100

    OP-1696 resolve linux build issue

commit 1d7695f81293534bc17f69b0fcd9de3876867f6a
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Mar 4 18:10:09 2015 +1100

    OP-1696 Return to Base & Land implemented

    Enabled via FlightModeSettings ReturnToBaseNextCommand = LAND

commit 4e5ca807b18a40ea60c05c1b46f738462595a6b2
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Mar 4 16:38:06 2015 +1100

    OP-1696 reduce memory footprint by only allocating controllers required for a particular frame type

commit 78e8f559cd25ffaeac68b563e25d1ad357205fd6
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Mar 4 13:51:05 2015 +1100

    OP-1696 move fsm initialisation to controller implementations

commit 848c78a84e5c7e11b2da953c9d9549b11fc5b1d8
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Mar 4 13:27:11 2015 +1100

    OP-1696 reduce memory through re-use of pointers to data objects in base class.

commit bc8794601142055942910ba9f938c03c8a3ca547
Merge: 24bc3de 843325d
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 3 22:06:01 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 24bc3de6155a74850b17ca7706f6b592923e027c
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 3 17:56:12 2015 +1100

    OP-1696 update gcs path planner options to align to new modes

commit dc659891882ea0624a6436550425c54b347f4101
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Mar 3 13:51:55 2015 +1100

    OP-1696 pathfollower class renaming and uncrustify

commit af19d114b8e0ff23159bdaca37e5f5bf1c1f8beb
Merge: b07c1fd 04f4cd9
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Mar 2 21:47:12 2015 +1100

    Merge branch 'rel-15.02' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit b07c1fdd0544a555678bc7a8510cd92861f17e46
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Mar 2 21:27:27 2015 +1100

    OP-1696 remainder of changes to integrate drive and fly objectives

commit c824c53cf30889a468ecb25ae3d705fa011b23ba
Merge: b89751c 1102243
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Mar 2 17:06:13 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit b89751caa5d6dc06e1e20391aa4e12b5484056d4
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Mar 2 17:04:27 2015 +1100

    OP-1696 merge fly and drive pathdesired/action objectives

commit c463132cb7da5cdf9fc5395ae0650b081bc9fb55
Author: abeck70 <abeck70@icloud.com>
Date:   Sun Mar 1 10:25:29 2015 +1100

    OP-1696 merge ground pathfollower and refactored into C++

    commit 6ed504b32f9e502e4f02d50b9e85ba91591417ba
    Merge: bcf245e deafed6
    Author: abeck70 <abeck70@icloud.com>
    Date:   Fri Feb 27 18:12:32 2015 +1100

        Merge branch 'next' into corvuscorax/OP-1642_tank-support

        Conflicts:
        	flight/modules/PathFollower/pathfollower.c
        	shared/uavobjectdefinition/vtolpathfollowersettings.xml

    commit bcf245e08c3348f2e6e5eddceee6d6cc268bdc23
    Author: Corvus Corax <corvuscorax@cybertrench.com>
    Date:   Sat Dec 6 19:45:29 2014 +0100

        OP-1642 added new uavobject to discovery target, too

    commit 6b9e8a7d7dad0739b4ffd2ce7f2f78ed4f597077
    Author: Corvus Corax <corvuscorax@cybertrench.com>
    Date:   Sat Dec 6 17:58:18 2014 +0100

        OP-1642 added very simple path control for ground vehicles

    commit e8d8440e049c06158e7fc542627fac6420abaf65
    Author: Corvus Corax <corvuscorax@cybertrench.com>
    Date:   Sat Dec 6 17:17:09 2014 +0100

        OP-1642 added new settings uavobject for tank path follower

commit 71dd726eb5b52614b417236c22e8a5cc3a487faf
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Feb 27 18:05:10 2015 +1100

    OP-1696 align pathaction to pathdesired

commit 8a88af83be457aafbb63e4f94fad3b1cd54264ca
Author: abeck70 <abeck70@icloud.com>
Date:   Thu Feb 26 08:06:34 2015 +1100

    OP-1696 fixed wing control refactored and compiling

commit fd9850b5e5680f5b422dbc468a94c5ec4b6dd518
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Feb 25 17:47:19 2015 +1100

    OP-1696 Removed vtol stuff from pathfollower.cpp after having replaced it with class impl

commit 9127d8d6d8c345c5bbf8622ce4e5eb76b03d1356
Merge: 4054c73 93fb2d5
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Feb 25 13:09:06 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 4054c73ac98b54188a0a5367c5ca913b7fee6a89
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Feb 24 12:29:28 2015 +1100

    OP-1696 fix compile errors

commit b398db3d4de8cd621a059da1f0dbb00868be0fb9
Merge: 94c795a 3e15cac
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Feb 24 12:06:35 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 94c795af386cf0f1072a88e99a80cb1080bf85e7
Merge: d2115de 57e0a8b
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Feb 23 17:54:33 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

    Conflicts:
    	flight/modules/Sensors/sensors.c
    	make/common-defs.mk

commit d2115dee4e8e9b6a02f7b7700e4715480a56b18f
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Feb 23 14:35:02 2015 +1100

    OP-1696 preliminary checkin for refactor of fly

    TODO:
    1. Finalise and test fly, brake
    2. Remove patfhollower vtol fly
    3. Rename all objects adding vtol in name

commit 95804b1d591d194cce3596187c74cdb2dd0d192f
Merge: 58cebb0 31c1385
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Feb 21 22:10:03 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 58cebb0658deaece1555cfa24e50f1b86fd68c96
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Feb 21 22:09:29 2015 +1100

    OP-1696 refactor neutral thrust and add pos hold implementation

commit 2c3cadfef3de9e092bd66bbabc58ac7847aca7e4
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Feb 20 18:32:11 2015 +1100

    OP-1696 start of refactor of braking

commit 991c2124e834f3432f5e34c5c9f4966cb42a7be3
Merge: 1ab5798 db7d605
Author: abeck70 <abeck70@icloud.com>
Date:   Thu Feb 19 12:17:54 2015 +1100

    Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1696

commit 1ab579865f04aeaa5899f5065a983de29074e025
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Feb 18 21:29:01 2015 +1100

    OP-1696 Rewrote velocity roam into new C++ OO architecture

    With use of new PID controller for NE.

commit 03edb049f06bf60054dce36a5b8b301a397284c4
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Feb 18 12:19:17 2015 +1100

    OP-1696 Start of refactoring of VelocityRoam implementation in PathFollower

    Also TODOs:
    1. To support pathplanner, remove all references to FlightStatus object and add more fields to PathDesired
    2. Refactor Braking to use C++
    3. Test and optimise Velocity Roam
    4. Add more config options to Landing. For example disable disarming. And add more setting objects.
    5. Consider moving all landing settings to one object.

commit 1f5dba821d4535a9a14f333efdeec1af5afcc281
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Feb 16 22:51:31 2015 +1100

    OP-1696 Landing tuning

commit 5133956c717fba871dd5700333806e298038a3d0
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Feb 16 21:05:06 2015 +1100

    OP-1696 Landing

    Multiple fixes

commit cf22055ecb8eb7304174c730f249a2332ebc599b
Author: abeck70 <abeck70@icloud.com>
Date:   Sun Feb 15 20:52:29 2015 +1100

    OP-1696 Add PIDStatus debug object

commit bc13d732601e7c7cb48db17f1a75b33cc96c0c34
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Feb 14 15:53:16 2015 +1100

    OP-1696 Landing sanity tested

commit 6e913076c1dfcb8b90153e9eca8acf6c9e51f293
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Feb 14 11:16:06 2015 +1100

    OP-1696 completed refactoring

    1. Completed refactoring of NE and Thrust control
    2. Fixed velocity roam

    TODO Tuning and testing

commit 63b62fbd0ac105029e54163b98c3beebc2d73c3a
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Feb 13 08:54:23 2015 +1100

    OP-1696 New PID Controller and refactoring of PID implementation for thrust management

commit 7474331529477d0badd2ef0d609c84c556be9cec
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Feb 10 16:39:44 2015 +1100

    OP-1696 Landing Refactor Thrust PID Loop for landing

commit 904ab2a9241e40c19da6a1508b4ce5243c75d7a3
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Feb 9 22:13:39 2015 +1100

    OP-1696 Uncrustify

commit b3d30e298d8a0343782a29bc91be6677105b325e
Author: abeck70 <abeck70@icloud.com>
Date:   Mon Feb 9 22:05:05 2015 +1100

    OP-1696 Create new OO design

    Added PathFollowerControl which has an Landing implementation.  The landing implementation runs its own set of PIDs.  And interfaces to the FSM for Landing.

commit 1ffd8d67cf7310c1c18c90f3ba18b08221d185a3
Author: abeck70 <abeck70@icloud.com>
Date:   Sat Feb 7 18:04:42 2015 +1100

    OP-1696 Upgrade arm tools

commit 3df01f97021d13694027b92ba0b13cc9fe70d437
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Feb 6 21:52:38 2015 +1100

    OP-1696 Landing uncrustify and start of refactoring landing to make more use of FSMLand

commit 7a753b65fb69d52c89875b9a182ef5210ee8ef2d
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Feb 6 15:08:29 2015 +1100

    OP-1696 Landing: fix compilation of all exes

commit 692459874acf2b7ae07aa3ab88a2c78a09f26ee6
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Feb 6 14:45:06 2015 +1100

    OP-1696 Landing startup fixes

commit 9851f29b9238a969efd0110f01a4fad6bdbc5a5d
Author: abeck70 <abeck70@icloud.com>
Date:   Fri Feb 6 10:21:52 2015 +1100

    OP-1696 Landing pathfollower CPP refactoring

commit 9b3a54d41f14f07cd0d78426026d12ae9ac4e5b5
Author: abeck70 <abeck70@icloud.com>
Date:   Wed Feb 4 13:02:44 2015 +1100

    OP-1696 Moved to FSMLand class and fixed CPP problems

    1. Additional methods, compile options, and need to have main as a cpp to solve various link issues when using static constructors but to avoid adding unnecessary libs.

commit 7ebe739bfdb4e0f598f4408c1488f01bc033c044
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Feb 3 22:17:08 2015 +1100

    OP-1696 Initial Landing prototype

    Proof of concept. To be refactored into C++

commit 11d6754b9766efb76cc1cd57e9894badaf33ef2d
Author: abeck70 <abeck70@icloud.com>
Date:   Tue Feb 3 22:13:10 2015 +1100

    OP-1696 CPP Enablement

    revo c++
    Enable optional revo C++ support:
    1. Set USE_CXX to enable compliation and linkage of C++ source code
    2. Disables rtti and exceptions
    3. operator new and delete call pios malloc/free
    4. Static constructor invocation supported
 2015-03-20 21:42:20 +11:00
Corvus Corax
6faf1a73ac OP-1456 get rid of cast_struct_to_array because it is error prone! 2014-08-24 00:16:34 +02:00
Corvus Corax
b562fcb02e OP-1156 fix path logic to not deviate from correct altitude too much 2014-08-15 17:56:57 +02:00
Alessio Morale
1b823b7b92 Merge remote-tracking branch 'origin/Bertrand/OP-1308_Set_Same_Logic_To_Alarms' into next 
Conflicts:
	flight/libraries/sanitycheck.c
	flight/modules/StateEstimation/filtermag.c
	flight/modules/System/systemmod.c
 2014-06-26 20:31:27 +02:00
Alessio Morale
92bf876654 OP-1350 refactor into a plans library all functions dealing with initialization and execution of PathFollower/pathplanner commands for manualcontrol 2014-05-19 18:35:18 +02:00
Alessio Morale
80bd04075f OP-1350 Rename ReturnToHomeAltitudeOffset to ReturnToBaseAltitudeOffset 2014-05-16 18:51:04 +02:00
Bertrand Oresve
6d3ade4947 OP-1308 Set the same logic for alarms 2014-04-29 22:25:49 +02:00
Corvus Corax
0ebc92d9f5 Merge branch 'corvuscorax/OP-942_task-diagnostics-for-callbacks' into corvuscorax/OP-1216_flight-control-refurbishment 
Conflicts:
	flight/modules/AltitudeHold/altitudehold.c
 2014-02-16 19:08:39 +01:00
Corvus Corax
7dd911efdb OP-1217 change the way modules are enabled/disabled based on flightstatus 2014-02-16 19:07:31 +01:00
Corvus Corax
b5a27d05e7 OP-1197 configurable failsafes OP-1219 thrust control OP-1217 separate manualcontrolsettings apart 2014-02-09 19:37:22 +01:00
Corvus Corax
49a1c4c28f OP-942 refactored callback scheduler to fit into PiOS naming scheme 2014-02-02 22:08:16 +01:00
Corvus Corax
b076ba02a1 OP-942 API change to CallbackScheduler - include unique ID for each callback for a taskinfo like UAVObject 2014-02-02 19:54:17 +01:00
Philippe Renon
d43b220dc0 OP-1122 uncrustified gcs and flight 2014-01-14 22:46:01 +01:00
Philippe Renon
1fca85784c OP-1122 OP-1145 added more path plan checks : 
- empty plan (i.e. no waypoints defined)
- out of range waypoint and path action ids

+review OPReview-609
 2014-01-14 21:08:40 +01:00
Philippe Renon
8ccdb252d1 OP-1122 OP-1145 commented out PIOS_DEBUGLOG_Printf calls in pathplanner 
+review OPReview-609
 2014-01-14 21:08:35 +01:00
Philippe Renon
7f2c24db2b OP-1122 OP-1158 - renamed uavobject FlightPlan to PathPlan 
+review OPReview-609
 2014-01-14 21:05:16 +01:00
Corvus Corax
76ee48bc44 OP-1122 safer sanity checks and arming prevention in case of invalid flight plan 2014-01-12 21:37:40 +01:00
Corvus Corax
cb9e76b006 OP-1122 add flightplan safety check to pathplanner - failsafe rth when flightmode is set to pathplan but no valid plan is uploaded 2014-01-12 21:05:54 +01:00
Corvus Corax
b8118f51e7 OP-1156 Made PathPlanner work with delayed callbacks in "navigation" callback task 
Conflicts:
	flight/modules/PathPlanner/pathplanner.c
 2014-01-12 20:13:48 +01:00
Philippe Renon
a64720a9f1 OP-1122 OP-1158 added flight plan CRC consistency checks (in GCS and fixedwingpathfollower module) 
- need to do the same in vtolpathfollower module)
- addressed an issue that could cause unwanted waypoints to be used (path follower was looping over all instanciated wp)
 2014-01-12 19:42:12 +01:00
Philippe Renon
aa24f2193a OP-1122 OP-1158 renamed FlightPlanInfo uavobject to FlightPlan 2014-01-12 15:23:21 +01:00
Philippe Renon
8c7792b6e5 OP-1122 OP-1120 Added a new FligthPlanInfo uavobject 
- FligthPlanInfo contains the number of waypoints and action pathes
- FligthPlanInfo contains a CRC of all waypoints and action pathes
- The CRC is not yet implemented
- These informations will be used to check the consistency of a flight plan
 2014-01-09 01:06:00 +01:00
Alessio Morale
e91bc28667 OP-1058 Get rid of Unions. 
They caused stack usage increase with -fstrict-aliasing as stack slots are not reused when dealing with unions.
It has now been added the cast_struct_to_array macro in pios_struct_helper.h to handle such case where it is useful to access those homogeneous structs as arrays

+review OPReview-552
 2013-09-01 12:10:55 +02:00
Alessio Morale
01d963affd OP-1058 uncrustify 2013-08-01 01:28:50 +02:00
Alessio Morale
9e1acc3165 OP-1058: fix needed for fw_revolution code compilation 2013-07-31 15:24:26 +02:00
Corvus Corax
0ffb2dee02 bugfix in pathplanner - 3d distance not calculated correctly 2013-07-11 14:35:37 +02:00
Corvus Corax
6fdf554d4a Merge branch 'next' into corvuscorax/OP-947_stateestimator-module 
Conflicts:
	flight/modules/Attitude/revolution/attitude.c
	ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
	shared/uavobjectdefinition/attitudesettings.xml
 2013-06-06 19:25:54 +02:00
Mathieu Rondonneau
23b2907d08 OP-976: Add the ';' back 
This compile successfuly with make all_flight
 2013-06-03 20:37:40 -07:00
Sexy Pony
900f643bbd Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES 2013-05-19 17:37:30 +03:00
Corvus Corax
5284195c29 Refaktored sensor and state UAVObjects consistently into XXYSensor and XXYState 2013-05-18 19:36:45 +02:00
Corvus Corax
80caceb984 make uncrustify_all;make uncrustify_all; 2013-05-18 14:17:26 +02:00
Richard Flay (Hyper)
ed68fbe68d OP-951: Adds -Wshadow to flight CFLAGS and fixes resulting compilation breakage. 
+review OPReview
 2013-05-14 07:01:45 +09:30
Richard Flay (Hyper)
fbc8bc698f OP-936: Merges branch 'next' into hyper/OP-936_task-monitor-rework, fixes damage/conflicts, 
and brings the callback scheduler into the fold.

+review OPReview-461
 2013-05-06 19:11:14 +09:30
Richard Flay (Hyper)
a2d8544931 OP-931: adds -Wextra compiler option for the flight code, and makes the bazillion code changes required 
to make the flight code compile again. Needs careful review, particularly all the fixes for the
signed vs unsigned comparisons.

+review OPReview-459
 2013-05-05 16:32:24 +09:30
Richard Flay (Hyper)
84e1a81f8b OP-936: Moves the task monitor code out of the flight library and into PiOS. 
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem,
and pushes the responsibility for updating the TaskInfo UAVO into the System module.

+review OPReview
 2013-05-03 07:01:14 +09:30
Richard Flay (Hyper)
80c917591e Cherry-pick and hand-merge of Sami's math cleanup commit from branch sambas/diffnext: 5f3e0c3e1d 2013-04-28 10:45:28 +09:30