Merge branch 'master' into ahrs_refactor

* master: (86 commits) [ahrs] update/clean test_ahrs [python] fix settings path [messages] add some descriptions again fix name of git submodule [chibios] switch back to a repo that have to 2.6 stable [chibios] switch back to correct version [ocaml] filter for 'field' tag when looking at messages [submodules] updated to a new chibios repository [messages] remove description node again for now [modules] mission_rotorcraft: only check for ned_initialized_i [modules][messages] mission: LLA waypoints in 1e7deg instead of float [build] don't compile natnet if not needed [messages] possibility to add descriptions [modules] rename flight_time to time_countdown [sim] remove launchsitl symlink [rotorcraft] navigation: fix NavCircleCount [modules] rotorcraft_cam: fix DEFAULT_MODE [omap] start basic spi driver [rotorcraft] arming: only check if motors can be armed if ahrs_is_aligned [rotorcraft] force MODE_STARTUP instead of KILL until ahrs is aligned ...
paparazzi · Nov 27, 2014 · 6cdfb7d · 6cdfb7d
2 parents e90e4c4 + d004209
commit 6cdfb7d
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diff --git a/.gitmodules b/.gitmodules
@@ -4,12 +4,12 @@
 [submodule "sw/ext/luftboot"]
 	path = sw/ext/luftboot
 	url = https://github.com/paparazzi/luftboot.git
-[submodule "sw/ext/chibios"]
-	path = sw/ext/chibios
-	url = https://github.com/ChibiOS/ChibiOS-RT.git
 [submodule "sw/ext/fatfs"]
 	path = sw/ext/fatfs
 	url = https://github.com/enacuavlab/fatfs.git
 [submodule "sw/ext/ardrone2_vision"]
 	path = sw/ext/ardrone2_vision
 	url = https://github.com/tudelft/ardrone2_vision.git
+[submodule "sw/ext/chibios"]
+	path = sw/ext/chibios
+	url = https://github.com/mabl/ChibiOS.git
diff --git a/.travis.yml b/.travis.yml
@@ -7,10 +7,11 @@ before_install:
   - sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
   - sudo apt-get update -q
 install:
-  - sudo apt-get install paparazzi-dev paparazzi-jsbsim gcc-arm-none-eabi
+  - sudo apt-get install paparazzi-dev paparazzi-jsbsim gcc-arm-none-eabi libipc-run-perl
 before_script: cd conf && ln -s conf_tests.xml conf.xml && cd ..
 script:
   - make
+  - make -C tests/math test
   - PAPARAZZI_SRC=$PWD PAPARAZZI_HOME=$PWD J=AUTO prove tests/examples/
 
 notifications:

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,99 @@
+Paparazzi 5.3_devel
+===================
+
+currently ongoing development, changes so far (no particular order, nor complete)
+
+General
+-------
+
+- Flight plans: option to `call` functions once without checking return value
+  [830] (https://github.com/paparazzi/paparazzi/pull/830)
+- Paparazzi Center settings improvements
+  [#834] (https://github.com/paparazzi/paparazzi/pull/834)
+- replay: ignore non-telemetry messages to remove warnings
+  [#894] (https://github.com/paparazzi/paparazzi/issues/894)
+- maps: put google tiles in var/maps/Google instead of var/maps
+  [#902] (https://github.com/paparazzi/paparazzi/issues/902)
+- Paparazzi Center: improve warning coloring
+  [#910] (https://github.com/paparazzi/paparazzi/issues/910)
+- add INFO_MSG with printing to GCS console
+  [#929] (https://github.com/paparazzi/paparazzi/pull/929)
+- Remove array delimiters on Ivy messages
+  [#942] (https://github.com/paparazzi/paparazzi/pull/942)
+- improve test framework
+  [#933] (https://github.com/paparazzi/paparazzi/pull/933)
+  [#945] (https://github.com/paparazzi/paparazzi/pull/945)
+- GCS: save size in layout
+  [#968] (https://github.com/paparazzi/paparazzi/issues/968)
+
+Simulation
+----------
+
+- OCaml sim: simulate sys_time
+  [#962] (https://github.com/paparazzi/paparazzi/issues/962)
+- OCaml sim: use unconnected socket for flightgear viz
+  [#915] (https://github.com/paparazzi/paparazzi/issues/915)
+- NPS: add commandline option to set time_factor
+- radio_conrol spektrum for sim target
+  [#851] (https://github.com/paparazzi/paparazzi/pull/851)
+
+Airborne
+--------
+
+- cleanup math lib and convert lots of macros to functions
+  [#819] (https://github.com/paparazzi/paparazzi/pull/819)
+- radio_control spektrum also usable for intermcu
+  [#847] (https://github.com/paparazzi/paparazzi/pull/847)
+- Convert air_data subsystem to module with QNH and true airspeed support
+  [#853] (https://github.com/paparazzi/paparazzi/pull/853)
+- add airspeed_ms45xx_i2c module
+  [#852] (https://github.com/paparazzi/paparazzi/pull/852)
+- Replace telemetry macros with functions
+  [#931] (https://github.com/paparazzi/paparazzi/pull/931)
+- Add Furuno NMEA based GPS
+  [#959] (https://github.com/paparazzi/paparazzi/pull/959)
+- Driver for MPU9250
+  [#953] (https://github.com/paparazzi/paparazzi/pull/953)
+- Driver for AKM8963 magnetometer
+  [#947] (https://github.com/paparazzi/paparazzi/pull/947)
+- Basic linux I2C driver
+  [#961] (https://github.com/paparazzi/paparazzi/pull/961)
+- ARDrone2: Handle memory full FTP upload error
+  [#967] (https://github.com/paparazzi/paparazzi/issues/967)
+
+
+Paparazzi 5.2.1_stable
+======================
+
+Maintenance release
+
+- build system: remove 'load' target as it is a builtin directive in Make 4.0
+- fix FlightGear visualization on 32bit systems
+- flight plans: set primitive should not delay next stage
+  [#824] (https://github.com/paparazzi/paparazzi/pull/824)
+- flight plans: fix return primitive
+- generators: gen_airframe: don't force float if unit = code_unit
+- sys_time: up to 16 sys_time timers by default (was 8)
+- OCaml: fix Pprz.sprint_value for uint32, e.g. for NatNet
+  [#831] (https://github.com/paparazzi/paparazzi/issues/831)
+- Rotorcraft: auto-enable UNLOCKED_HOME_MODE if HOME mode is used on RC
+  [#823] (https://github.com/paparazzi/paparazzi/issues/823)
+- Rotorcraft: only go to HOME mode if in NAV
+  [#850] (https://github.com/paparazzi/paparazzi/issues/850)
+- Fixedwing: If USE_BARO_BOARD: separate baro timer
+  Before baro_periodic was running at PERIODIC_FREQUENCY in sensors_task,
+  which is too fast for ms5611 if periodic freq is > 100Hz.
+- INS alt_float: if USE_BARO_BOARD, dt is 1/BARO_PERIODIC_FREQUENCY
+  [#848] (https://github.com/paparazzi/paparazzi/pull/848)
+- STM32: backport fix for using multiple ADs
+  [#822] (https://github.com/paparazzi/paparazzi/pull/822)
+- LPC21: don't override T0CCR values when setting ppm and trig_ext
+- IMU driver for Lisa/M/MX 2.1
+  [#817] (https://github.com/paparazzi/paparazzi/pull/817)
+- support for HBmini board
+  [#864] (https://github.com/paparazzi/paparazzi/pull/864)
+
+
 Paparazzi 5.2.0_stable
 =======================
 

diff --git a/Makefile.ac b/Makefile.ac
@@ -214,7 +214,8 @@ fbw : fbw.compile
 ap: ap.compile
 
 clean_ac :
-	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
-	rm -fr $(AIRCRAFT_BUILD_DIR)
+	$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
+	@echo "CLEANING $(AIRCRAFT)"
+	$(Q)rm -fr $(AIRCRAFT_BUILD_DIR)
 
 .PHONY: init all_ac_h radio_ac_h flight_plan_ac_h makefile_ac clean_ac print_version
diff --git a/conf/Makefile.ardrone2 b/conf/Makefile.ardrone2
@@ -32,14 +32,14 @@ upload_extra:
 
 
 # Program the device and start it.
-load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
+upload program: upload_extra $(OBJDIR)/$(TARGET).elf
 	$(Q)$(DRONE) --host=$(HOST) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
 	$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
 	$(Q)$(DRONE) --host=$(HOST) status
 
 
 # Program the device and start it.
-load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
+upload2 program2: $(OBJDIR)/$(TARGET).elf
 
 	# Kill the application
 	-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
@@ -82,4 +82,4 @@ ifeq ($(ARDRONE2_REBOOT),1)
 endif
 
 # Listing of phony targets.
-.PHONY : upload_extra load upload program load2 upload2 program2
+.PHONY : upload_extra upload program upload2 program2
diff --git a/conf/Makefile.geode b/conf/Makefile.geode
@@ -67,7 +67,7 @@ $(OBJDIR):
 elf: $(OBJDIR)/$(TARGET).elf
 
 # Program the device.
-load upload program: $(OBJDIR)/$(TARGET).elf
+upload program: $(OBJDIR)/$(TARGET).elf
 	scp $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)
 
 # Link: create ELF output file from object files.

diff --git a/conf/Makefile.lpc21 b/conf/Makefile.lpc21
@@ -192,7 +192,7 @@ sym: $(OBJDIR)/$(TARGET).sym
 
 
 # Program the device.
-load upload program: $(OBJDIR)/$(TARGET).hex
+upload program: $(OBJDIR)/$(TARGET).hex
 ifeq ($(FLASH_MODE),IAP)
 	$(SUDO) $(LPC21IAP)  $(OBJDIR)/$(TARGET).elf
 else ifeq ($(FLASH_MODE),JTAG)
@@ -267,7 +267,7 @@ $(AOBJARM) : $(OBJDIR)/%.o : $(SRC_ARCH)/%.S
 
 
 # Listing of phony targets.
-.PHONY : all build elf hex lss sym load upload program
+.PHONY : all build elf hex lss sym upload program
 
 
 #

diff --git a/conf/Makefile.pentium-m b/conf/Makefile.pentium-m
@@ -76,7 +76,7 @@ $(OBJDIR):
 elf: $(OBJDIR)/$(TARGET).elf
 
 # Program the device.
-load upload program: $(OBJDIR)/$(TARGET).elf
+upload program: $(OBJDIR)/$(TARGET).elf
 ifdef USER
 	ssh $(USER)@$(HOST) "sudo mount -o remount,rw /"
 	scp $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)

diff --git a/conf/airframes/CDW/TwoSeas.xml b/conf/airframes/CDW/TwoSeas.xml
@@ -23,6 +23,10 @@
       <subsystem name="intermcu" type="uart">
         <configure name="INTERMCU_PORT" value="UART2"/>
       </subsystem>
+      <subsystem name="radio_control" type="sbus_dual">
+        <configure name="SBUS1_PORT" value="UART3"/>
+        <configure name="SBUS2_PORT" value="UART5"/>
+      </subsystem>
       <!-- AP -->
       <subsystem name="control"/>
       <subsystem name="navigation"/>
@@ -37,6 +41,7 @@
       </subsystem>
     </target>
     <target name="fbw" board="lisa_m_2.0">
+      <configure name="SEPARATE_FBW" value="1"/>
       <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
       <define name="LINK_MCU_LED" value="1"/>
       <configure name="HAS_LUFTBOOT" value="0"/>

diff --git a/conf/airframes/CDW/conf.xml b/conf/airframes/CDW/conf.xml
@@ -6,7 +6,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/modules/imu_quality_assessment.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
+   settings_modules="modules/imu_quality_assessment.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -16,7 +17,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_mkk_v2.xml settings/modules/imu_quality_assessment.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/configure_actuators_mkk_v2.xml modules/imu_quality_assessment.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/CDW/conf_two_seas.xml b/conf/airframes/CDW/conf_two_seas.xml
@@ -6,7 +6,8 @@
    radio="radios/T8FG_SBUS.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
+   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
+   settings_modules="modules/light.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml
@@ -19,20 +19,19 @@
   </modules>
 
   <firmware name="fixedwing">
-    <define name="USE_I2C1"/>
-    <!--define name="USE_I2C2"/-->
-    <!--define name="AGR_CLIMB"/-->
-    <!--define name="LOITER_TRIM"/-->
-    <!--define name="PITCH_TRIM"/-->
-    <configure name="PERIODIC_FREQUENCY" value="100"/>
-
     <target name="sim" board="pc">
       <subsystem name="radio_control" type="ppm"/>
     </target>
     <target name="ap" board="apogee_1.0_chibios">
       <subsystem name="radio_control" type="sbus"/>
+      <configure name="PERIODIC_FREQUENCY" value="100"/>
     </target>
 
+    <define name="USE_I2C1"/>
+    <!--define name="USE_I2C2"/-->
+    <!--define name="AGR_CLIMB"/-->
+    <!--define name="LOITER_TRIM"/-->
+    <!--define name="PITCH_TRIM"/-->
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>

diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -2,46 +2,33 @@
 
 <!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
      Tiny 2.12 board (http://wiki.paparazziuav.org/wiki/index.php/Tiny_v2)
-     Tilted infrared sensor
+     MPU9250 Drotek Breakout Board
 -->
 
-<airframe name="Twinjet 2 Tiny 2.12">
+<airframe name="Black Cat">
 
   <modules>
-    <!--load name="adp_roll.xml"/-->
-    <!--load name="ins_vn100.xml"/-->
-    <!--load name="ets_module_sensors.xml"/-->
-    <!--load name="infrared_i2c.xml"/-->
-    <!--load name="max3100.xml"/>
-    <load name="gsm.xml"/-->
-    <!--load name="demo_module.xml">
-      <define name="TEST" value="1"/>
-      <define name="TEST_FLAG"/>
-    </load-->
-    <!--load name="enose.xml"/-->
     <load name="light.xml"/>
-    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
     <define name="PITCH_TRIM"/>
-    <define name="USE_I2C0"/>
 
     <target name="ap" 			board="tiny_2.11"/>
     <target name="sim" 			board="pc"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="control"       type="adaptive"/>
-    <subsystem name="ahrs"          type="infrared"/>
+    <subsystem name="imu"           type="mpu9250_i2c"/>
+    <subsystem name="ahrs"          type="float_dcm"/>
     <subsystem name="ins"           type="alt_float"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
 
   <firmware name="setup">
     <target name="tunnel" 		      board="tiny_2.11" />
-    <target name="setup_actuators" 	board="tiny_2.11" />
   </firmware>
 
   <!-- commands section -->
@@ -78,16 +65,40 @@
     <let var="yaw" value="@YAW   * MOTOR_YAW_RATE"/>
     <set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
     <set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
-    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
     <define name="MAX_ROLL" value="0.85"/>
     <define name="MAX_PITCH" value="0.6"/>
   </section>
 
-  <section name="INFRARED" prefix="IR_">
+  <section name="IMU" prefix="IMU_">
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="-1"/>
+    <define name="GYRO_R_SIGN" value="-1"/>
+    <define name="GYRO_P_NEUTRAL" value="0"/>
+    <define name="GYRO_Q_NEUTRAL" value="0"/>
+    <define name="GYRO_R_NEUTRAL" value="0"/>
+
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="-1"/>
+    <define name="ACCEL_Z_SIGN" value="-1"/>
+    <define name="ACCEL_X_NEUTRAL" value="109"/>
+    <define name="ACCEL_Y_NEUTRAL" value="13"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-404"/>
+    <define name="ACCEL_X_SENS" value="2.45045342816" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.44747844234" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.42689216106" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
+  </section>
+
+  <!--section name="INFRARED" prefix="IR_">
     <define name="ADC_IR1_NEUTRAL" value="512"/>
     <define name="ADC_IR2_NEUTRAL" value="512"/>
     <define name="ADC_TOP_NEUTRAL" value="512"/>
@@ -105,7 +116,7 @@
     <define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
 
     <define name="I2C_DEFAULT_CONF" value="1"/>
-  </section>
+  </section-->
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
@@ -121,8 +132,11 @@
 <!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-    <define name="LIGHT_LED_1" value="3"/>
-    <define name="LIGHT_LED_2" value="5"/>
+    <define name="LIGHT_LED_NAV" value="3"/>
+    <define name="LIGHT_LED_STROBE" value="4"/>
+    <define name="USE_LED_4" value="1"/> <!-- CAM_SWITCH is a gpio not a led -->
+    <define name="LED_4_BANK" value="1"/>
+    <define name="LED_4_PIN" value="22"/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">