User-visible changes:
- checks will fail if calibration is in progress
- PX4FMU_V1 will now have COMPASS_OFFSETS_MAX of 600, not 500
- if the primary compass is not set to be used then compass checks will always pass
Functionality changes:
- gyros and accels only have to be consistent in last 10 seconds to pass
- ins.use_accel() is honoured when checking for consistency
- ins.use_gyro() is honoured when checking for consistency
- threshold is trippled rather than doubled for accel cal checks
- checks are reordered
This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.
Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear
The functional change here is that we continue to run later checks
when a check fails.
The user-visible effect of that is that your GCS will tell you about
all pre-arm failures, not just the first.
This makes things work a little more like Plane, in preparation for
using AP_Arming.
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
Rustom Jehangir
Peter Barker
Randy Mackay
Andrew Tridgell
Mathieu OTHACEHE
murata
Tom Pittenger
Jonathan Challinger
Francisco Ferreira
skyscraper
Luis Vale Gonçalves
Robert Lefebvre