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Add ADSB logging #105

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Add ADSB logging #105

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4801a4f
DataFlash: added ADSB logging structures
tridge Jan 15, 2020
944036e
AP_ADSB: added ADSB logging
tridge Jan 15, 2020
4b3c9af
Copter: fixed call to adsb handle_message
tridge Jan 15, 2020
b117fd6
Copter: fixed missing break
tridge Jan 15, 2020
a5985a6
HAL_ChibiOS: enable logging of all ADSB contacts
tridge Jan 15, 2020
41d3754
Copter: fixed ADSB avoidance
tridge Jan 15, 2020
0815ed3
AP_Avoidance: fixed param doc generation for avoidance
tridge Jan 15, 2020
68a9871
Tools: fixed CI compiler for Copter 4.0
tridge Jan 17, 2020
5b5b755
Tools: fixed compiler path
tridge Jan 18, 2020
f1a9916
Tools: align ci gcc with environment gcc v6 on arm
andyp1per Dec 14, 2019
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2 changes: 1 addition & 1 deletion ArduCopter/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1576,7 +1576,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
#if ADSB_ENABLED == ENABLED
copter.adsb.handle_message(chan, msg);
copter.adsb.handle_message(chan, *msg);
#endif
break;

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1 change: 1 addition & 0 deletions ArduCopter/events.cpp
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Expand Up @@ -83,6 +83,7 @@ void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
#else
init_disarm_motors();
#endif
break;
case Failsafe_Action_LandIfManual:
if (!flightmode->is_autopilot()) {
set_mode_land_with_pause(MODE_REASON_BATTERY_FAILSAFE);
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2 changes: 1 addition & 1 deletion ArduCopter/mode.h
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Expand Up @@ -816,10 +816,10 @@ class ModeGuided : public Mode {
uint32_t wp_distance() const override;
int32_t wp_bearing() const override;
float crosstrack_error() const override;
void pos_control_start();

private:

void pos_control_start();
void vel_control_start();
void posvel_control_start();
void takeoff_run();
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11 changes: 9 additions & 2 deletions ArduCopter/mode_avoid_adsb.cpp
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Expand Up @@ -12,8 +12,15 @@
// initialise avoid_adsb controller
bool Copter::ModeAvoidADSB::init(const bool ignore_checks)
{
// re-use guided mode
return Copter::ModeGuided::init(ignore_checks);
if (copter.position_ok() || ignore_checks) {
// initialise yaw
auto_yaw.set_mode_to_default(false);
// start in position control mode
pos_control_start();
return true;
}else{
return false;
}
}

bool Copter::ModeAvoidADSB::set_velocity(const Vector3f& velocity_neu)
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6 changes: 3 additions & 3 deletions Tools/scripts/configure-ci.sh
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Expand Up @@ -6,8 +6,8 @@ set -ex
# Disable ccache for the configure phase, it's not worth it
export CCACHE_DISABLE="true"

ARM_ROOT="gcc-arm-none-eabi-4_9-2015q3"
ARM_TARBALL="$ARM_ROOT-20150921-linux.tar.bz2"
ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"

RPI_ROOT="master"
RPI_TARBALL="$RPI_ROOT.tar.gz"
Expand Down Expand Up @@ -73,7 +73,7 @@ ln -s ~/opt/$CCACHE_ROOT/ccache ~/ccache/clang
exportline="export PATH=$HOME/ccache"
exportline="${exportline}:$HOME/bin"
exportline="${exportline}:$HOME/.local/bin"
exportline="${exportline}:$HOME/opt/gcc-arm-none-eabi-4_9-2015q3/bin"
exportline="${exportline}:$HOME/opt/gcc-arm-none-eabi-6-2017-q2-update/bin"
exportline="${exportline}:$HOME/opt/tools-master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin"
exportline="${exportline}:$HOME/opt/$CCACHE_ROOT"
exportline="${exportline}:\$PATH"
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