ArduSub Merge #5678

jaxxzer · 2017-02-07T02:24:45Z

A less-fancy, more up-to-date PR for merging ArduSub. This is a continuation of #5655. I am creating this second pull request in order to avoid force pushing to bluerobotics master.

khancyr · 2017-02-07T12:43:58Z

ArduSub/defines.h

-// EKF failsafe definitions (FS_EKF_ACTION parameter)
+#define FS_GCS_DISABLED		0 // Disabled
+#define FS_GCS_WARN_ONLY	1 // Only send warning to gcs (only useful with multiple gcs links)
+#define FS_GCS_DISARM		2 // Disarm


minor correction to align everything!

forget, has been handle later

khancyr · 2017-02-07T12:50:16Z

ArduSub/events.cpp

 		failsafe.last_leak_warn_ms = tnow;
-		gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Leak Detected");
+		gcs_send_text(MAV_SEVERITY_WARNING, "Leak Detected");


it could be interesting to log or notify when the first leak was detect.

forget, has been handle later

khancyr · 2017-02-07T12:56:26Z

libraries/SITL/SIM_Submarine.cpp

@@ -0,0 +1,72 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-


not needed as a global file handle this

khancyr · 2017-02-07T12:59:24Z

ArduSub/radio.cpp

@@ -61,6 +61,15 @@ void Sub::init_rc_in()
    // set default dead zones
    default_dead_zones();

+    // initialize rc input to 1500 on control channels (rather than 0)
+    for(int i = 0; i < 7; i++) {
+    	if(i == 4) {


miss a space after if. Nice trick ! I will add this to rover too !! will prevent some current problem!

forget, has been handle later

khancyr · 2017-02-07T13:01:25Z

libraries/SITL/SIM_Submarine.cpp

+void Submarine::update(const struct sitl_input &input)
+{
+    // get wind vector setup
+    update_wind(input);


love that ^^

khancyr · 2017-02-07T13:02:23Z

libraries/SITL/SIM_Submarine.cpp

+    Aircraft(home_str, frame_str),
+    frame(NULL)
+{
+    frame = Frame::find_frame(frame_str);


maybe this could be improve later

Yes, I will have to work on this some more.

khancyr · 2017-02-07T13:08:16Z

libraries/AP_HAL_SITL/SITL_cmdline.cpp

@@ -91,6 +92,7 @@ static const struct {
    { "balloon",            Balloon::create },
    { "plane",              Plane::create },
    { "calibration",        Calibration::create },
+	{ "vectored",           Submarine::create },


miss a space

forget, has been handle later

khancyr · 2017-02-07T13:17:58Z

Tools/autotest/sim_vehicle.py

@@ -348,6 +349,12 @@ def wait_unlimited():
        "waf_target": "bin/ardurover",
        "default_params_filename": "default_params/rover-skid.parm",
    },
+    # SUB
+    "vectored": {


better to have sub or sub-vectored to better identification and allow other sub type !

Done, thanks.

khancyr · 2017-02-07T13:19:07Z

Tools/autotest/sim_vehicle.py

+    "vectored": {
+        "model": "vectored",
+        "waf_target": "bin/ardusub-vectored",
+        "default_params_filename": "Sub.parm",


param should be move in default_params directory

khancyr

👍

magicrub · 2017-02-07T18:28:15Z

370 commits is getting a bit crazy...

tridge · 2017-02-07T22:33:42Z

@magicrub I think its fine to have a large number of commits for what is really merging two projects.

tridge · 2017-02-07T23:50:51Z

@jaxxzer I think this PR could benefit from this one: #5689

jaxxzer · 2017-02-08T00:01:47Z

@tridge I am very interested in using that, thanks for putting it together.
@magicrub I am cutting it down a bit, and removing the messier bits of our developments in libraries.

Wish to use gcs() to return the gcs singleton

This experimental mode is no longer relevant

OXINARF · 2017-02-20T23:22:04Z

@jaxxzer The commits with messages Sub: Use AHRS_VEHICLE_SUBMARINE as AHRS vehicle class and * Sub: Use default StorageManager layout instead of copter layout* have their messages swapped - functionality is correct, but the message is for the other commit.

jaxxzer · 2017-02-20T23:52:30Z

@OXINARF Fixed, thanks.

khancyr reviewed Feb 7, 2017

View reviewed changes

jaxxzer force-pushed the sub-merge branch 3 times, most recently from f7fcf57 to 6d0888a Compare February 7, 2017 17:27

jaxxzer force-pushed the sub-merge branch 3 times, most recently from e23477e to 5b1f903 Compare February 7, 2017 20:44

jaxxzer force-pushed the sub-merge branch 2 times, most recently from 75019bd to 4d16d50 Compare February 7, 2017 23:17

jaxxzer force-pushed the sub-merge branch from 4d16d50 to 4258249 Compare February 7, 2017 23:58

jaxxzer force-pushed the sub-merge branch 7 times, most recently from 2ce2bd8 to 0f7d9c0 Compare February 8, 2017 20:19

jaxxzer and others added 20 commits February 20, 2017 18:15

Sub: Remove stale comments and devlist from ArduSub.cpp

046e5d6

AC_Avoidance: Refactor fence.get_safe_alt() to fence.get_safe_alt_max()

68317f3

Copter: Refactor fence.get_safe_alt() to fence.get_safe_alt_max()

dba07e3

Sub: Refactor to fence.get_safe_alt_min() and fence.get_safe_alt_max()

8a9f7d8

Sub: Use AP_Baro::baro_type_t

6b29041

Sub: Remove reference to gps.crosstrack_error

49000d6

Sub: Refactor MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW

a2d7dae

Sub: Set BRD_SAFETYENABLE to disabled by default

178dc7a

Sub: Fix RC and SERVO parameter paths

c0814cd

Sub: AP_Baro library takes care of baro type

26bdce7

Sub: Only save baro calibration parameters when user zeros

8948aef

Sub: Update stale references to Copter

4b50f62

Sub: rename gcs[] to gcs_chan[]

8592d67

Wish to use gcs() to return the gcs singleton

Sub: support for a GCS singleton

8bc4130

Sub: Set GND_EXT_BUS to 1 by default

0de4766

Sub: Set frame type flag for AP_Param

66a2540

Sub: Default FS_LEAK_ENABLE to FS_LEAK_WARN_ONLY

48001c9

Sub: Clean up parameter conversion code

a943141

Sub: Remove transect mode

2c2fc25

This experimental mode is no longer relevant

AP_AHRS: Add submarine vehicle class

5bac1c0

jaxxzer force-pushed the sub-merge branch from b2aa726 to 1dead8e Compare February 20, 2017 23:16

jaxxzer added 4 commits February 20, 2017 18:29

Sub: Use default StorageManager layout instead of copter layout

852c326

Sub: Use AHRS_VEHICLE_SUBMARINE as AHRS vehicle class

747d2ef

Sub: Add support for AP_AHRS_View

f5c2a54

Sub: Check for BARO_TYPE_WATER before assigning depth sensor

66a28e0

jaxxzer force-pushed the sub-merge branch from 1dead8e to 66a28e0 Compare February 20, 2017 23:31

tridge merged commit ec0b073 into ArduPilot:master Feb 21, 2017

jaxxzer deleted the sub-merge branch July 22, 2017 04:38

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ArduSub Merge #5678

ArduSub Merge #5678

jaxxzer commented Feb 7, 2017

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jaxxzer commented Feb 20, 2017

		@@ -0,0 +1,72 @@
		/// -- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil --

ArduSub Merge #5678

ArduSub Merge #5678

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magicrub commented Feb 7, 2017

tridge commented Feb 7, 2017

tridge commented Feb 7, 2017

jaxxzer commented Feb 8, 2017

OXINARF commented Feb 20, 2017

jaxxzer commented Feb 20, 2017