Merge branch 'master' into automate_apm_pdef_xml_creation

ArduCopter/Copter.cpp

@@ -164,7 +164,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK_CLASS(ToyMode,              &copter.g2.toy_mode,         update,          10,  50,  24),
 #endif
     SCHED_TASK(auto_disarm_check,     10,     50,  27),
-    SCHED_TASK(auto_trim,             10,     75,  30),
+#if AP_COPTER_AHRS_AUTO_TRIM_ENABLED
+    SCHED_TASK_CLASS(RC_Channels_Copter,   &copter.g2.rc_channels,      auto_trim_run,   10,  75,  30),
+#endif
 #if AP_RANGEFINDER_ENABLED
     SCHED_TASK(read_rangefinder,      20,    100,  33),
 #endif

ArduCopter/Copter.h

@@ -496,10 +496,6 @@ class Copter : public AP_Vehicle {
     // arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.
     uint32_t arm_time_ms;
 
-    // Used to exit the roll and pitch auto trim function
-    uint8_t auto_trim_counter;
-    bool auto_trim_started = false;
-
     // Camera
 #if AP_CAMERA_ENABLED
     AP_Camera camera{MASK_LOG_CAMERA};
@@ -997,11 +993,6 @@ class Copter : public AP_Vehicle {
     // takeoff_check.cpp
     void takeoff_check();
 
-    // RC_Channel.cpp
-    void save_trim();
-    void auto_trim();
-    void auto_trim_cancel();
-
     // system.cpp
     void init_ardupilot() override;
     void startup_INS_ground();

ArduCopter/RC_Channel_Copter.cpp

@@ -213,7 +213,7 @@ bool RC_Channel_Copter::do_aux_function(const AuxFuncTrigger &trigger)
             if ((ch_flag == AuxSwitchPos::HIGH) &&
                 (copter.flightmode->allows_save_trim()) &&
                 (copter.channel_throttle->get_control_in() == 0)) {
-                copter.save_trim();
+                copter.g2.rc_channels.save_trim();
             }
             break;
 
@@ -631,6 +631,12 @@ bool RC_Channel_Copter::do_aux_function(const AuxFuncTrigger &trigger)
             break;
 #endif
 
+#if AP_COPTER_AHRS_AUTO_TRIM_ENABLED
+        case AUX_FUNC::AHRS_AUTO_TRIM:
+            copter.g2.rc_channels.do_aux_function_ahrs_auto_trim(ch_flag);
+            break;
+#endif  // AP_COPTER_AHRS_AUTO_TRIM_ENABLED
+
         case AUX_FUNC::SIMPLE_HEADING_RESET:
             if (ch_flag == AuxSwitchPos::HIGH) {
                 copter.init_simple_bearing();
@@ -706,68 +712,78 @@ void RC_Channel_Copter::do_aux_function_change_force_flying(const AuxSwitchPos c
     }
 }
 
+// note that this is a method on the RC_Channels object, not the
+// individual channel
 // save_trim - adds roll and pitch trims from the radio to ahrs
-void Copter::save_trim()
+void RC_Channels_Copter::save_trim()
 {
     // save roll and pitch trim
-    float roll_trim = ToRad((float)channel_roll->get_control_in()*0.01f);
-    float pitch_trim = ToRad((float)channel_pitch->get_control_in()*0.01f);
-    ahrs.add_trim(roll_trim, pitch_trim);
+    float roll_trim = ToRad((float)get_roll_channel().get_control_in()*0.01f);
+    float pitch_trim = ToRad((float)get_pitch_channel().get_control_in()*0.01f);
+    AP::ahrs().add_trim(roll_trim, pitch_trim);
     LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM);
     gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
 }
 
+#if AP_COPTER_AHRS_AUTO_TRIM_ENABLED
+// start/stop ahrs auto trim
+void RC_Channels_Copter::do_aux_function_ahrs_auto_trim(const RC_Channel::AuxSwitchPos ch_flag)
+{
+    switch (ch_flag) {
+    case RC_Channel::AuxSwitchPos::HIGH:
+        gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim running");
+        // flash the leds
+        AP_Notify::flags.save_trim = true;
+        auto_trim.running = true;
+        break;
+    case RC_Channel::AuxSwitchPos::MIDDLE:
+        break;
+    case RC_Channel::AuxSwitchPos::LOW:
+        if (auto_trim.running) {
+            AP_Notify::flags.save_trim = false;
+            save_trim();
+        }
+        break;
+    }
+}
+
 // auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
 // meant to be called continuously while the pilot attempts to keep the copter level
-void Copter::auto_trim_cancel()
+void RC_Channels_Copter::auto_trim_cancel()
 {
-    auto_trim_counter = 0;
+    auto_trim.running = false;
     AP_Notify::flags.save_trim = false;
     gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim cancelled");
+    // restore original trims
 }
 
-void Copter::auto_trim()
+void RC_Channels_Copter::auto_trim_run()
 {
-    if (auto_trim_counter > 0) {
-        if (copter.flightmode != &copter.mode_stabilize ||
-            !copter.motors->armed()) {
-            auto_trim_cancel();
+        if (!auto_trim.running) {
             return;
         }
 
-        // flash the leds
-        AP_Notify::flags.save_trim = true;
-
-        if (!auto_trim_started) {
-            if (ap.land_complete) {
-                // haven't taken off yet
-                return;
-            }
-            auto_trim_started = true;
+        // only trim in certain modes:
+        if (copter.flightmode != &copter.mode_stabilize &&
+            copter.flightmode != &copter.mode_althold) {
+            auto_trim_cancel();
+            return;
         }
 
-        if (ap.land_complete) {
-            // landed again.
+        // must be started and stopped mid-air:
+        if (copter.ap.land_complete_maybe) {
             auto_trim_cancel();
             return;
         }
 
-        auto_trim_counter--;
-
         // calculate roll trim adjustment
-        float roll_trim_adjustment = ToRad((float)channel_roll->get_control_in() / 4000.0f);
+        float roll_trim_adjustment = ToRad((float)get_roll_channel().get_control_in() / 4000.0f);
 
         // calculate pitch trim adjustment
-        float pitch_trim_adjustment = ToRad((float)channel_pitch->get_control_in() / 4000.0f);
-
-        // add trim to ahrs object
-        // save to eeprom on last iteration
-        ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
+        float pitch_trim_adjustment = ToRad((float)get_pitch_channel().get_control_in() / 4000.0f);
 
-        // on last iteration restore leds and accel gains to normal
-        if (auto_trim_counter == 0) {
-            AP_Notify::flags.save_trim = false;
-            gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim: Trims saved");
-        }
-    }
+        // add trim to ahrs object, but do not save to permanent storage:
+        AP::ahrs().add_trim(roll_trim_adjustment, pitch_trim_adjustment, false);
 }
+
+#endif  // AP_COPTER_AHRS_AUTO_TRIM_ENABLED

ArduCopter/RC_Channel_Copter.h

@@ -46,6 +46,18 @@ class RC_Channels_Copter : public RC_Channels
     // returns true if throttle arming checks should be run
     bool arming_check_throttle() const override;
 
+    // support for trimming AHRS using RC stick inputs, enabled via an
+    // aux function
+#if AP_COPTER_AHRS_AUTO_TRIM_ENABLED
+    void do_aux_function_ahrs_auto_trim(const RC_Channel::AuxSwitchPos ch_flag);
+    struct {
+        bool running;
+    } auto_trim;
+    void auto_trim_run();
+    void auto_trim_cancel();
+#endif  // AP_COPTER_AHRS_AUTO_TRIM_ENABLED
+    void save_trim();
+
 protected:
 
     int8_t flight_mode_channel_number() const override;

ArduCopter/config.h

@@ -578,6 +578,10 @@
 # define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 0
 #endif
 
+#ifndef AP_COPTER_AHRS_AUTO_TRIM_ENABLED
+# define AP_COPTER_AHRS_AUTO_TRIM_ENABLED 1
+#endif
+
 #ifndef CH_MODE_DEFAULT
  # define CH_MODE_DEFAULT   5
 #endif

ArduCopter/motors.cpp

@@ -2,7 +2,6 @@
 
 #define ARM_DELAY               20  // called at 10hz so 2 seconds
 #define DISARM_DELAY            20  // called at 10hz so 2 seconds
-#define AUTO_TRIM_DELAY         100 // called at 10hz so 10 seconds
 #define LOST_VEHICLE_DELAY      10  // called at 10hz so 1 second
 
 static uint32_t auto_disarm_begin;
@@ -39,7 +38,7 @@ void Copter::arm_motors_check()
     if (yaw_in > 4000) {
 
         // increase the arming counter to a maximum of 1 beyond the auto trim counter
-        if (arming_counter <= AUTO_TRIM_DELAY) {
+        if (arming_counter < ARM_DELAY) {
             arming_counter++;
         }
 
@@ -51,15 +50,6 @@ void Copter::arm_motors_check()
             }
         }
 
-        // arm the motors and configure for flight
-        if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && flightmode->mode_number() == Mode::Number::STABILIZE) {
-            gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim start");
-            auto_trim_counter = 250;
-            auto_trim_started = false;
-            // ensure auto-disarm doesn't trigger immediately
-            auto_disarm_begin = millis();
-        }
-
     // full left and rudder disarming is enabled
     } else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
         if (!flightmode->has_manual_throttle() && !ap.land_complete) {

Blimp/Blimp.h

@@ -239,10 +239,6 @@ class Blimp : public AP_Vehicle
     // arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.
     uint32_t arm_time_ms;
 
-    // Used to exit the roll and pitch auto trim function
-    uint8_t auto_trim_counter;
-    bool auto_trim_started = false;
-
     // last valid RC input time
     uint32_t last_radio_update_ms;
 
@@ -412,11 +408,6 @@ class Blimp : public AP_Vehicle
     bool rangefinder_alt_ok();
     bool rangefinder_up_ok();
 
-    // RC_Channel.cpp
-    void save_trim();
-    void auto_trim();
-    void auto_trim_cancel();
-
     // system.cpp
     void init_ardupilot() override;
     void startup_INS_ground();

Blimp/RC_Channel_Blimp.cpp

@@ -106,14 +106,6 @@ bool RC_Channel_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
 
     switch (ch_option) {
 
-    case AUX_FUNC::SAVE_TRIM:
-        if ((ch_flag == AuxSwitchPos::HIGH) &&
-            (blimp.control_mode <= Mode::Number::MANUAL) &&
-            (blimp.channel_up->get_control_in() == 0)) {
-            blimp.save_trim();
-        }
-        break;
-
     case AUX_FUNC::LOITER:
         do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
         break;
@@ -127,69 +119,3 @@ bool RC_Channel_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
     }
     return true;
 }
-
-// save_trim - adds roll and pitch trims from the radio to ahrs
-void Blimp::save_trim()
-{
-    // save roll and pitch trim
-    float roll_trim = ToRad((float)channel_right->get_control_in()*0.01f);
-    float pitch_trim = ToRad((float)channel_front->get_control_in()*0.01f);
-    ahrs.add_trim(roll_trim, pitch_trim);
-    LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM);
-    gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
-}
-
-// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
-// meant to be called continuously while the pilot attempts to keep the blimp level
-void Blimp::auto_trim_cancel()
-{
-    auto_trim_counter = 0;
-    AP_Notify::flags.save_trim = false;
-    gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim cancelled");
-}
-
-void Blimp::auto_trim()
-{
-    if (auto_trim_counter > 0) {
-        if (blimp.flightmode != &blimp.mode_manual ||
-            !blimp.motors->armed()) {
-            auto_trim_cancel();
-            return;
-        }
-
-        // flash the leds
-        AP_Notify::flags.save_trim = true;
-
-        if (!auto_trim_started) {
-            if (ap.land_complete) {
-                // haven't taken off yet
-                return;
-            }
-            auto_trim_started = true;
-        }
-
-        if (ap.land_complete) {
-            // landed again.
-            auto_trim_cancel();
-            return;
-        }
-
-        auto_trim_counter--;
-
-        // calculate roll trim adjustment
-        float roll_trim_adjustment = ToRad((float)channel_right->get_control_in() / 4000.0f);
-
-        // calculate pitch trim adjustment
-        float pitch_trim_adjustment = ToRad((float)channel_front->get_control_in() / 4000.0f);
-
-        // add trim to ahrs object
-        // save to eeprom on last iteration
-        ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
-
-        // on last iteration restore leds and accel gains to normal
-        if (auto_trim_counter == 0) {
-            AP_Notify::flags.save_trim = false;
-            gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim: Trims saved");
-        }
-    }
-}

Blimp/motors.cpp

@@ -2,7 +2,6 @@
 
 #define ARM_DELAY               20  // called at 10hz so 2 seconds
 #define DISARM_DELAY            20  // called at 10hz so 2 seconds
-#define AUTO_TRIM_DELAY         100 // called at 10hz so 10 seconds
 #define LOST_VEHICLE_DELAY      10  // called at 10hz so 1 second
 
 // arm_motors_check - checks for pilot input to arm or disarm the blimp
@@ -29,7 +28,7 @@ void Blimp::arm_motors_check()
     if (yaw_in > 900) {
 
         // increase the arming counter to a maximum of 1 beyond the auto trim counter
-        if (arming_counter <= AUTO_TRIM_DELAY) {
+        if (arming_counter < ARM_DELAY) {
             arming_counter++;
         }
 
@@ -41,13 +40,6 @@ void Blimp::arm_motors_check()
             }
         }
 
-        // arm the motors and configure for flight
-        if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && control_mode == Mode::Number::MANUAL) {
-            gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim start");
-            auto_trim_counter = 250;
-            auto_trim_started = false;
-        }
-
         // full left and rudder disarming is enabled
     } else if ((yaw_in < -900) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
         if (!flightmode->has_manual_throttle() && !ap.land_complete) {

Tools/AP_Bootloader/board_types.txt

@@ -300,6 +300,7 @@ AP_HW_FlywooF405HD_AIOv2             1180
 AP_HW_FlywooH743Pro                  1181
 AP_HW_CBU_StampH743_LC               1182
 AP_HW_NarinH7                        1183
+AP_HW_BrahmaF4                       1184
 
 AP_HW_JFB200                         1200
 

Tools/ardupilotwaf/boards.py

@@ -287,7 +287,7 @@ def configure_env(self, cfg, env):
                 '-Wno-gnu-variable-sized-type-not-at-end',
                 '-Werror=implicit-fallthrough',
                 '-cl-single-precision-constant',
-                '-Wno-vla-cxx-extension',
+                '-Wno-vla-extension',
             ]
         else:
             env.CFLAGS += [
@@ -420,7 +420,7 @@ def configure_env(self, cfg, env):
 
                 '-Wno-gnu-designator',
                 '-Wno-mismatched-tags',
-                '-Wno-vla-cxx-extension',
+                '-Wno-vla-extension',
                 '-Wno-gnu-variable-sized-type-not-at-end',
                 '-Werror=implicit-fallthrough',
                 '-cl-single-precision-constant',