ArduSub integration

.gitignore

@@ -58,6 +58,7 @@ ArduPlane/test/*
 ArduPlane/way.txt
 Build.APMrover2/*
 Build.AntennaTracker/*
+Build.ArduSub/*
 Build.ArduCopter/*
 Build.ArduPlane/*
 CMakeCache.txt

.travis.yml

@@ -4,9 +4,9 @@ sudo: false
 addons:
   coverity_scan:
     project:
-      name: "diydrones/ardupilot"
+      name: "bluerobotics/ardusub"
       description: "Build submitted via Travis CI"
-    notification_email: andrew-scan@tridgell.net
+    notification_email: rusty@bluerobotics.com
     build_command_prepend: "make clean"
     build_command:   "make"
     branch_pattern: coverity_scan
@@ -53,7 +53,7 @@ before_cache:
 notifications:
   webhooks:
     urls:
-      - https://webhooks.gitter.im/e/e5e0b55e353e53945b4b
+      - https://webhooks.gitter.im/e/c9c81d7336fdd1025fdd
     on_success: change  # options: [always|never|change] default: always
     on_failure: always  # options: [always|never|change] default: always
     on_start: false     # default: false

ArduSub/APM_Config.h

@@ -0,0 +1,44 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// User specific config file.  Any items listed in config.h can be overridden here.
+
+// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
+// valid! You should switch to using a HAL_BOARD flag in your local config.mk.
+
+// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
+//#define LOGGING_ENABLED       DISABLED            // disable dataflash logging to save 11K of flash space
+//#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
+#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
+//#define AC_FENCE              DISABLED            // disable fence to save 2k of flash
+//#define CAMERA                DISABLED            // disable camera trigger to save 1k of flash
+//#define RANGEFINDER_ENABLED   DISABLED            // disable rangefinder to save 1k of flash
+//#define PROXIMITY_ENABLED     DISABLED            // disable proximity sensors
+//#define POSHOLD_ENABLED       DISABLED            // disable PosHold flight mode to save 4.5k of flash
+#define GRIPPER_ENABLED           DISABLED            // disable gripper to save 500bytes of flash
+//#define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space
+//#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
+
+// features below are disabled by default on all boards
+//#define AVOIDANCE_ENABLED		ENABLED
+//#define PROXIMITY_ENABLED		ENABLED
+//#define AC_RALLY              ENABLED            // enable rally points library
+//#define AC_TERRAIN            ENABLED            // enable terrain library (Must also enable Rally)
+//#define OPTFLOW               ENABLED // enable optical flow sensor support
+//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
+
+// other settings
+//#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)
+//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM   ENABLED    // when set to ENABLED vehicle will only disarm after landing (in AUTO, LAND or RTL) if pilot has put throttle to zero
+
+//#define HIL_MODE              HIL_MODE_SENSORS    // build for hardware-in-the-loop simulation
+
+// User Hooks : For User Developed code that you wish to run
+// Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
+//#define USERHOOK_VARIABLES "UserVariables.h"
+// Put your custom code into the UserCode.pde with function names matching those listed below and ensure the appropriate #define below is uncommented below
+//#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
+//#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
+//#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
+//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
+//#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
+//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz

ArduSub/APM_Config_mavlink_hil.h

@@ -0,0 +1,30 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// HIL_MODE SELECTION
+//
+// Mavlink supports
+// 1. HIL_MODE_SENSORS: full sensor simulation
+#define HIL_MODE            HIL_MODE_SENSORS
+
+// HIL_PORT SELCTION
+//
+// PORT 1
+// If you would like to run telemetry communications for a groundstation
+// while you are running hardware in the loop it is necessary to set
+// HIL_PORT to 1. This uses the port that would have been used for the gps
+// as the hardware in the loop port. You will have to solder
+// headers onto the gps port connection on the apm
+// and connect via an ftdi cable.
+//
+// The baud rate is set to 115200 in this mode.
+//
+// PORT 3
+// If you don't require telemetry communication with a gcs while running
+// hardware in the loop you may use the telemetry port as the hardware in
+// the loop port.  Alternatively, use a telemetry/HIL shim like FGShim
+// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
+//
+// The buad rate is controlled by SERIAL1_BAUD in this mode.
+
+#define HIL_PORT            3
+

ArduSub/AP_State.cpp

@@ -0,0 +1,102 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include "Sub.h"
+
+// set_home_state - update home state
+void Sub::set_home_state(enum HomeState new_home_state)
+{
+    // if no change, exit immediately
+    if (ap.home_state == new_home_state)
+        return;
+
+    // update state
+    ap.home_state = new_home_state;
+
+    // log if home has been set
+    if (new_home_state == HOME_SET_NOT_LOCKED || new_home_state == HOME_SET_AND_LOCKED) {
+        Log_Write_Event(DATA_SET_HOME);
+    }
+}
+
+// home_is_set - returns true if home positions has been set (to GPS location, armed location or EKF origin)
+bool Sub::home_is_set()
+{
+    return (ap.home_state == HOME_SET_NOT_LOCKED || ap.home_state == HOME_SET_AND_LOCKED);
+}
+
+// ---------------------------------------------
+void Sub::set_auto_armed(bool b)
+{
+    // if no change, exit immediately
+    if( ap.auto_armed == b )
+        return;
+
+    ap.auto_armed = b;
+    if(b){
+        Log_Write_Event(DATA_AUTO_ARMED);
+    }
+}
+
+// ---------------------------------------------
+void Sub::set_simple_mode(uint8_t b)
+{
+    if(ap.simple_mode != b){
+        if(b == 0){
+            Log_Write_Event(DATA_SET_SIMPLE_OFF);
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
+        }else if(b == 1){
+            Log_Write_Event(DATA_SET_SIMPLE_ON);
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
+        }else{
+            // initialise super simple heading
+            update_super_simple_bearing(true);
+            Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
+        }
+        ap.simple_mode = b;
+    }
+}
+
+// ---------------------------------------------
+void Sub::set_failsafe_battery(bool b)
+{
+    failsafe.battery = b;
+    AP_Notify::flags.failsafe_battery = b;
+}
+
+// ---------------------------------------------
+
+void Sub::set_pre_arm_check(bool b)
+{
+    if(ap.pre_arm_check != b) {
+        ap.pre_arm_check = b;
+        AP_Notify::flags.pre_arm_check = b;
+    }
+}
+
+void Sub::set_pre_arm_rc_check(bool b)
+{
+    if(ap.pre_arm_rc_check != b) {
+        ap.pre_arm_rc_check = b;
+    }
+}
+
+void Sub::update_using_interlock()
+{
+    // check if we are using motor interlock control on an aux switch
+    ap.using_interlock = check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK);
+}
+
+void Sub::set_motor_emergency_stop(bool b)
+{
+    if(ap.motor_emergency_stop != b) {
+        ap.motor_emergency_stop = b;
+    }
+
+    // Log new status
+    if (ap.motor_emergency_stop){
+        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
+    } else {
+        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
+    }
+}