Ardu copter 3.2.1

.travis.yml

@@ -4,7 +4,12 @@ before_install:
   - cd .. && ./ardupilot/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile
 
 script: 
-  - cd ./ardupilot/ArduCopter && make configure && make && make px4-v2
-  - cd ../ArduPlane  && make configure && make && make px4-v2
-  - cd ../APMrover2  && make configure && make && make px4-v2
-  - cd ../ArduCopter && make configure && make && make vrubrain-v51
+  - cd ./ardupilot && Tools/scripts/build_all_travis.sh
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/e5e0b55e353e53945b4b
+    on_success: change  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+    on_start: false     # default: false

APMrover2/GCS_Mavlink.pde

@@ -958,6 +958,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
         {
+            // mark the firmware version in the tlog
+            send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
+
+#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
+            send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
+#endif
             handle_param_request_list(msg);
             break;
         }

ArduCopter/APM_Config.h

@@ -19,10 +19,6 @@
  */
 
 // uncomment the lines below to save on flash space if compiling for the APM using Arduino IDE.  Top items save the most flash space
-#if (CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_APM1)
- # define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space
- # define FRSKY_TELEM_ENABLED           DISABLED            // disable the FRSKY TELEM
-#endif
 //#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
@@ -34,6 +30,7 @@
 // features below are disabled by default on APM (but enabled on Pixhawk)
 //#define AC_RALLY              ENABLED             // disable rally points to save 2k of flash, and also frees rally point EEPROM for more mission commands
 //#define PARACHUTE             ENABLED             // enable parachute release at a cost of 1k of flash
+//#define CLI_ENABLED           ENABLED             // enable the CLI (command-line-interface) at a cost of 21K of flash space
 
 // features below are disabled by default on all boards
 //#define OPTFLOW               ENABLED             // enable optical flow sensor and OF_LOITER flight mode at a cost of 5K of flash space

ArduCopter/AP_State.pde

@@ -110,6 +110,21 @@ void set_land_complete(bool b)
 
 // ---------------------------------------------
 
+// set land complete maybe flag
+void set_land_complete_maybe(bool b)
+{
+    // if no change, exit immediately
+    if (ap.land_complete_maybe == b)
+        return;
+
+    if (b) {
+        Log_Write_Event(DATA_LAND_COMPLETE_MAYBE);
+    }
+    ap.land_complete_maybe = b;
+}
+
+// ---------------------------------------------
+
 void set_pre_arm_check(bool b)
 {
     if(ap.pre_arm_check != b) {

ArduCopter/ArduCopter.pde

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduCopter V3.2-rc5"
+#define THISFIRMWARE "ArduCopter V3.2.1"
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -206,6 +206,9 @@ static AP_Notify notify;
 // used to detect MAVLink acks from GCS to stop compassmot
 static uint8_t command_ack_counter;
 
+// has a log download started?
+static bool in_log_download;
+
 ////////////////////////////////////////////////////////////////////////////////
 // prototypes
 ////////////////////////////////////////////////////////////////////////////////
@@ -288,25 +291,7 @@ static AP_Compass_HIL compass;
 AP_ADC_ADS7844 apm1_adc;
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_MPU6000
-AP_InertialSensor_MPU6000 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_PX4
-AP_InertialSensor_PX4 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
-AP_InertialSensor_VRBRAIN ins;
-#elif CONFIG_INS_TYPE == HAL_INS_HIL
-AP_InertialSensor_HIL ins;
-#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
-AP_InertialSensor_Oilpan ins( &apm1_adc );
-#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
-AP_InertialSensor_Flymaple ins;
-#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
-AP_InertialSensor_L3G4200D ins;
-#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
-AP_InertialSensor_MPU9250 ins;
-#else
-  #error Unrecognised CONFIG_INS_TYPE setting.
-#endif // CONFIG_INS_TYPE
+AP_InertialSensor ins;
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
@@ -388,6 +373,9 @@ static union {
         uint8_t rc_receiver_present : 1; // 14  // true if we have an rc receiver present (i.e. if we've ever received an update
         uint8_t compass_mot         : 1; // 15  // true if we are currently performing compassmot calibration
         uint8_t motor_test          : 1; // 16  // true if we are currently performing the motors test
+        uint8_t initialised         : 1; // 17  // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
+        uint8_t land_complete_maybe : 1; // 18  // true if we may have landed (less strict version of land_complete)
+        uint8_t throttle_zero       : 1; // 19  // true if the throttle stick is at zero, debounced
     };
     uint32_t value;
 } ap;
@@ -571,8 +559,8 @@ static int16_t climb_rate;
 static int16_t sonar_alt;
 static uint8_t sonar_alt_health;   // true if we can trust the altitude from the sonar
 static float target_sonar_alt;      // desired altitude in cm above the ground
-// The altitude as reported by Baro in cm - Values can be quite high
-static int32_t baro_alt;
+static int32_t baro_alt;            // barometer altitude in cm above home
+static float baro_climbrate;        // barometer climbrate in cm/s
 
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -795,7 +783,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { arm_motors_check,     40,      1 },
     { auto_trim,            40,     14 },
     { update_altitude,      40,    100 },
-    { run_nav_updates,      40,     80 },
+    { run_nav_updates,       8,     80 },
     { update_thr_cruise,    40,     10 },
     { three_hz_loop,       133,      9 },
     { compass_accumulate,    8,     42 },
@@ -805,7 +793,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 #endif
     { update_notify,         8,     10 },
     { one_hz_loop,         400,     42 },
-    { ekf_check,            40,      2 },
+    { ekf_dcm_check,        40,      2 },
     { crash_check,          40,      2 },
     { gcs_check_input,	     8,    550 },
     { gcs_send_heartbeat,  400,    150 },
@@ -863,7 +851,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { arm_motors_check,     10,      10 },
     { auto_trim,            10,     140 },
     { update_altitude,      10,    1000 },
-    { run_nav_updates,      10,     800 },
+    { run_nav_updates,       4,     800 },
     { update_thr_cruise,     1,      50 },
     { three_hz_loop,        33,      90 },
     { compass_accumulate,    2,     420 },
@@ -873,7 +861,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 #endif
     { update_notify,         2,     100 },
     { one_hz_loop,         100,     420 },
-    { ekf_check,            10,      20 },
+    { ekf_dcm_check,        10,      20 },
     { crash_check,          10,      20 },
     { gcs_check_input,	     2,     550 },
     { gcs_send_heartbeat,  100,     150 },
@@ -942,7 +930,7 @@ static void barometer_accumulate(void)
 
 static void perf_update(void)
 {
-    if (g.log_bitmask & MASK_LOG_PM)
+    if (should_log(MASK_LOG_PM))
         Log_Write_Performance();
     if (scheduler.debug()) {
         cliSerial->printf_P(PSTR("PERF: %u/%u %lu\n"),
@@ -957,10 +945,7 @@ static void perf_update(void)
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
-        Log_Write_Error(ERROR_SUBSYSTEM_MAIN, ERROR_CODE_MAIN_INS_DELAY);
-        return;
-    }
+    ins.wait_for_sample();
     uint32_t timer = micros();
 
     // check loop time
@@ -1089,7 +1074,7 @@ static void update_batt_compass(void)
         compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
         compass.read();
         // log compass information
-        if (g.log_bitmask & MASK_LOG_COMPASS) {
+        if (should_log(MASK_LOG_COMPASS)) {
             Log_Write_Compass();
         }
     }
@@ -1102,16 +1087,16 @@ static void update_batt_compass(void)
 // should be run at 10hz
 static void ten_hz_logging_loop()
 {
-    if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
+    if (should_log(MASK_LOG_ATTITUDE_MED)) {
         Log_Write_Attitude();
     }
-    if (g.log_bitmask & MASK_LOG_RCIN) {
+    if (should_log(MASK_LOG_RCIN)) {
         DataFlash.Log_Write_RCIN();
     }
-    if (g.log_bitmask & MASK_LOG_RCOUT) {
+    if (should_log(MASK_LOG_RCOUT)) {
         DataFlash.Log_Write_RCOUT();
     }
-    if ((g.log_bitmask & MASK_LOG_NTUN) && mode_requires_GPS(control_mode)) {
+    if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
         Log_Write_Nav_Tuning();
     }
 }
@@ -1126,11 +1111,11 @@ static void fifty_hz_logging_loop()
 #endif
 
 #if HIL_MODE == HIL_MODE_DISABLED
-    if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) {
+    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
     }
 
-    if (g.log_bitmask & MASK_LOG_IMU) {
+    if (should_log(MASK_LOG_IMU)) {
         DataFlash.Log_Write_IMU(ins);
     }
 #endif
@@ -1160,12 +1145,12 @@ static void three_hz_loop()
 // one_hz_loop - runs at 1Hz
 static void one_hz_loop()
 {
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(DATA_AP_STATE, ap.value);
     }
 
     // log battery info to the dataflash
-    if (g.log_bitmask & MASK_LOG_CURRENT) {
+    if (should_log(MASK_LOG_CURRENT)) {
         Log_Write_Current();
     }
 
@@ -1206,6 +1191,13 @@ static void one_hz_loop()
 #if AP_TERRAIN_AVAILABLE
     terrain.update();
 #endif
+
+#if AC_FENCE == ENABLED
+    // set fence altitude limit in position controller
+    if ((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
+        pos_control.set_alt_max(fence.get_safe_alt()*100.0f);
+    }
+#endif
 }
 
 // called at 100hz but data from sensor only arrives at 20 Hz
@@ -1224,7 +1216,7 @@ static void update_optical_flow(void)
         of_log_counter++;
         if( of_log_counter >= 4 ) {
             of_log_counter = 0;
-            if (g.log_bitmask & MASK_LOG_OPTFLOW) {
+            if (should_log(MASK_LOG_OPTFLOW)) {
                 Log_Write_Optflow();
             }
         }
@@ -1248,7 +1240,7 @@ static void update_GPS(void)
             last_gps_reading[i] = gps.last_message_time_ms(i);
 
             // log GPS message
-            if (g.log_bitmask & MASK_LOG_GPS) {
+            if (should_log(MASK_LOG_GPS)) {
                 DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
             }
 
@@ -1334,7 +1326,7 @@ init_simple_bearing()
     super_simple_sin_yaw = simple_sin_yaw;
 
     // log the simple bearing to dataflash
-    if (g.log_bitmask != 0) {
+    if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
     }
 }
@@ -1399,13 +1391,13 @@ static void read_AHRS(void)
 static void update_altitude()
 {
     // read in baro altitude
-    baro_alt            = read_barometer();
+    read_barometer();
 
     // read in sonar altitude
     sonar_alt           = read_sonar();
 
     // write altitude info to dataflash logs
-    if (g.log_bitmask & MASK_LOG_CTUN) {
+    if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
     }
 }

ArduCopter/Attitude.pde

@@ -151,8 +151,8 @@ static int16_t get_pilot_desired_throttle(int16_t throttle_control)
 // get_pilot_desired_climb_rate - transform pilot's throttle input to
 // climb rate in cm/s.  we use radio_in instead of control_in to get the full range
 // without any deadzone at the bottom
-#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+THROTTLE_IN_DEADBAND)  // top of the deadband
-#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-THROTTLE_IN_DEADBAND)  // bottom of the deadband
+#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+g.throttle_deadzone)  // top of the deadband
+#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-g.throttle_deadzone)  // bottom of the deadband
 static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
 {
     int16_t desired_rate = 0;
@@ -165,13 +165,16 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
     // ensure a reasonable throttle value
     throttle_control = constrain_int16(throttle_control,0,1000);
 
+    // ensure a reasonable deadzone
+    g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
+
     // check throttle is above, below or in the deadband
     if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) {
         // below the deadband
-        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
+        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - g.throttle_deadzone);
     }else if (throttle_control > THROTTLE_IN_DEADBAND_TOP) {
         // above the deadband
-        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
+        desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - g.throttle_deadzone);
     }else{
         // must be in the deadband
         desired_rate = 0;