.gitignore

@@ -57,16 +57,19 @@ ArduCopter/test/*
 ArduPlane/terrain/*.DAT
 ArduPlane/test.ArduPlane/
 APMrover2/test.APMrover2/
+autotest.lck
 build
 Build.ArduCopter/*
 Build.ArduPlane/*
 Build.APMrover2/*
+Build.AntennaTracker/*
 cmake_install.cmake
 CMakeCache.txt
 CMakeFiles
 config.mk
 dataflash.bin
 eeprom.bin
+index.html
 LASTLOG.TXT
 Make.dep
 mav.log

.travis.yml

 language: cpp
 
 before_install:
-  - cd .. && ./ardupilot/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile
+  -  APMDIR=$(pwd) && pushd .. && $APMDIR/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile && popd
 
 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
+  - 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/APMrover2.pde

 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduRover v2.46beta2"
+#define THISFIRMWARE "ArduRover v2.47"
 /*
    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
@@ -112,6 +112,7 @@
 
 #include <AP_Notify.h>      // Notify library
 #include <AP_BattMonitor.h> // Battery monitor library
+#include <AP_OpticalFlow.h>     // Optical Flow library
 
 // Configuration
 #include "config.h"
@@ -200,21 +201,7 @@ static AP_GPS gps;
 // flight modes convenience array
 static AP_Int8		*modes = &g.mode1;
 
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;
@@ -224,33 +211,17 @@ static AP_Compass_VRBRAIN compass;
 static AP_Compass_HMC5843 compass;
 #elif CONFIG_COMPASS == HAL_COMPASS_HIL
 static AP_Compass_HIL compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
+static AP_Compass_AK8963_MPU9250 compass;
 #else
  #error Unrecognized CONFIG_COMPASS setting
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 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
@@ -276,6 +247,8 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd);
 static void exit_mission();
 AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
 
+static OpticalFlow optflow;
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 SITL sitl;
 #endif
@@ -566,6 +539,7 @@ void setup() {
     // rover does not use arming nor pre-arm checks
     AP_Notify::flags.armed = true;
     AP_Notify::flags.pre_arm_check = true;
+    AP_Notify::flags.pre_arm_gps_check = true;
     AP_Notify::flags.failsafe_battery = false;
 
     notify.init(false);
@@ -586,9 +560,8 @@ void setup() {
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
-        return;
-    }
+    ins.wait_for_sample();
+
     uint32_t timer = hal.scheduler->micros();
 
     delta_us_fast_loop	= timer - fast_loopTimer_us;
@@ -652,7 +625,7 @@ static void mount_update(void)
 
 static void update_alt()
 {
-    barometer.read();
+    barometer.update();
     if (should_log(MASK_LOG_IMU)) {
         Log_Write_Baro();
     }

APMrover2/GCS_Mavlink.pde

@@ -143,13 +143,17 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS; // motor control
         break;
 
     case INITIALISING:
         break;
     }
 
+    // set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
+    if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
+    }
+
     // default to all healthy except compass and gps which we set individually
     control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
     if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
@@ -158,11 +162,14 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
-    if (!ins.healthy()) {
-        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    if (!ins.get_gyro_health_all() || (!g.skip_gyro_cal && !ins.gyro_calibrated_ok_all())) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
+    }
+    if (!ins.get_accel_health_all()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
     }
 
-    if (!ahrs.healthy()) {
+    if (ahrs.initialised() && !ahrs.healthy()) {
         // AHRS subsystem is unhealthy
         control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
     }
@@ -170,7 +177,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     int16_t battery_current = -1;
     int8_t battery_remaining = -1;
 
-    if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) {
+    if (battery.has_current()) {
         battery_remaining = battery.capacity_remaining_pct();
         battery_current = battery.current_amps() * 100;
     }
@@ -509,6 +516,13 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         send_rangefinder(chan);
         break;
 
+    case MSG_MOUNT_STATUS:
+#if MOUNT == ENABLED
+        CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
+        camera_mount.status_msg(chan);
+#endif // MOUNT == ENABLED
+        break;
+
     case MSG_RAW_IMU2:
     case MSG_LIMITS_STATUS:
     case MSG_FENCE_STATUS:
@@ -516,8 +530,21 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         // unused
         break;
 
+    case MSG_BATTERY2:
+        CHECK_PAYLOAD_SIZE(BATTERY2);
+        gcs[chan-MAVLINK_COMM_0].send_battery2(battery);
+        break;
+
+    case MSG_CAMERA_FEEDBACK:
+#if CAMERA == ENABLED
+        CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
+        camera.send_feedback(chan, gps, ahrs, current_loc);
+#endif
+        break;
+
     case MSG_RETRY_DEFERRED:
     case MSG_TERRAIN:
+    case MSG_OPTICAL_FLOW:
         break; // just here to prevent a warning
 	}
 
@@ -739,6 +766,8 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_HWSTATUS);
         send_message(MSG_RANGEFINDER);
         send_message(MSG_SYSTEM_TIME);
+        send_message(MSG_BATTERY2);
+        send_message(MSG_MOUNT_STATUS);
     }
 }
 
@@ -774,7 +803,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             // decode
             mavlink_command_long_t packet;
             mavlink_msg_command_long_decode(msg, &packet);
-            if (mavlink_check_target(packet.target_system, packet.target_component)) break;
 
             uint8_t result = MAV_RESULT_UNSUPPORTED;
 
@@ -814,15 +842,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
 
             case MAV_CMD_PREFLIGHT_CALIBRATION:
-                if (packet.param1 == 1 ||
-                    packet.param2 == 1 ||
-                    packet.param3 == 1) {
+                if ((packet.param1 == 1 ||
+                     packet.param2 == 1) &&
+                    packet.param3 == 0) {
                     startup_INS_ground(true);
-                }
-                if (packet.param4 == 1) {
+                    result = MAV_RESULT_ACCEPTED;
+                } else if (packet.param4 == 1) {
                     trim_radio();
+                    result = MAV_RESULT_ACCEPTED;
+                } else {
+                    send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));
                 }
-                result = MAV_RESULT_ACCEPTED;
                 break;
 
             case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
@@ -911,29 +941,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_SET_MODE:
 		{
-            // decode
-            mavlink_set_mode_t packet;
-            mavlink_msg_set_mode_decode(msg, &packet);
-
-            if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
-                // we ignore base_mode as there is no sane way to map
-                // from that bitmap to a APM flight mode. We rely on
-                // custom_mode instead.
-                break;
-            }
-            switch (packet.custom_mode) {
-            case MANUAL:
-            case HOLD:
-            case LEARNING:
-            case STEERING:
-            case AUTO:
-            case RTL:
-                set_mode((enum mode)packet.custom_mode);
-                break;
-            }
-
+            handle_set_mode(msg, mavlink_set_mode);
             break;
-		}
+        }
 
     case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
         {
@@ -958,6 +968,12 @@ 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;
         }
@@ -1016,9 +1032,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         int16_t v[8];
         mavlink_msg_rc_channels_override_decode(msg, &packet);
 
-        if (mavlink_check_target(packet.target_system,packet.target_component))
-            break;
-
         v[0] = packet.chan1_raw;
         v[1] = packet.chan2_raw;
         v[2] = packet.chan3_raw;
@@ -1108,12 +1121,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			camera_mount.control_msg(msg);
 			break;
 		}
-
-    case MAVLINK_MSG_ID_MOUNT_STATUS:
-		{
-			camera_mount.status_msg(msg, chan);
-			break;
-		}
 #endif // MOUNT == ENABLED
 
     case MAVLINK_MSG_ID_RADIO:
@@ -1145,19 +1152,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         break;
 #endif
 
-    default:
-        // forward unknown messages to the other link if there is one
-        for (uint8_t i=0; i<num_gcs; i++) {
-            if (gcs[i].initialised && i != (uint8_t)chan) {
-                mavlink_channel_t out_chan = (mavlink_channel_t)i;
-                // only forward if it would fit in the transmit buffer
-            if (comm_get_txspace(out_chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
-                _mavlink_resend_uart(out_chan, msg);
-            }
-        }
-        }
-        break;
-
     } // end switch
 } // end handle mavlink
 

APMrover2/Log.pde

@@ -319,7 +319,11 @@ static void Log_Write_Attitude()
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 #if AP_AHRS_NAVEKF_AVAILABLE
-    DataFlash.Log_Write_EKF(ahrs);
+ #if OPTFLOW == ENABLED
+    DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
+ #else
+    DataFlash.Log_Write_EKF(ahrs,false);
+ #endif
     DataFlash.Log_Write_AHRS2(ahrs);
 #endif
 }

APMrover2/Parameters.pde

@@ -525,7 +525,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Group: BATT_
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
-    GOBJECT(battery,                "BATT_",       AP_BattMonitor),
+    GOBJECT(battery,                "BATT", AP_BattMonitor),
 
     // @Group: BRD_
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp

APMrover2/Steering.pde

@@ -6,7 +6,7 @@
 static void throttle_slew_limit(int16_t last_throttle)
 {
     // if slew limit rate is set to zero then do not slew limit
-    if (g.throttle_slewrate) {                   
+    if (g.throttle_slewrate && last_throttle != 0) {                   
         // limit throttle change by the given percentage per second
         float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->radio_max - channel_throttle->radio_min);
         // allow a minimum change of 1 PWM per cycle
@@ -143,7 +143,7 @@ static void calc_throttle(float target_speed)
         float brake_gain = constrain_float(((-groundspeed_error)-g.braking_speederr)/g.braking_speederr, 0, 1);
         int16_t braking_throttle = g.throttle_max * (g.braking_percent * 0.01f) * brake_gain;
         channel_throttle->servo_out = constrain_int16(-braking_throttle, -g.throttle_max, -g.throttle_min);
-        
+
         // temporarily set us in reverse to allow the PWM setting to
         // go negative
         set_reverse(true);
@@ -208,13 +208,12 @@ static void calc_nav_steer()
 *****************************************/
 static void set_servos(void)
 {
-    int16_t last_throttle = channel_throttle->radio_out;
+    static int16_t last_throttle;
 
     // support a separate steering channel
     RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, channel_steer->pwm_to_angle_dz(0));
 
-	if ((control_mode == MANUAL || control_mode == LEARNING) &&
-        (g.skid_steer_out == g.skid_steer_in)) {
+	if (control_mode == MANUAL || control_mode == LEARNING) {
         // do a direct pass through of radio values
         channel_steer->radio_out       = channel_steer->read();
         channel_throttle->radio_out    = channel_throttle->read();
@@ -244,25 +243,28 @@ static void set_servos(void)
 
         // limit throttle movement speed
         throttle_slew_limit(last_throttle);
+    }
 
-        if (g.skid_steer_out) {
-            // convert the two radio_out values to skid steering values
-            /*
-              mixing rule:
-              steering = motor1 - motor2
-              throttle = 0.5*(motor1 + motor2)
-              motor1 = throttle + 0.5*steering
-              motor2 = throttle - 0.5*steering
-            */          
-            float steering_scaled = channel_steer->norm_output();
-            float throttle_scaled = channel_throttle->norm_output();
-            float motor1 = throttle_scaled + 0.5*steering_scaled;
-            float motor2 = throttle_scaled - 0.5*steering_scaled;
-            channel_steer->servo_out = 4500*motor1;
-            channel_throttle->servo_out = 100*motor2;
-            channel_steer->calc_pwm();
-            channel_throttle->calc_pwm();
-        }
+    // record last throttle before we apply skid steering
+    last_throttle = channel_throttle->radio_out;
+
+    if (g.skid_steer_out) {
+        // convert the two radio_out values to skid steering values
+        /*
+          mixing rule:
+          steering = motor1 - motor2
+          throttle = 0.5*(motor1 + motor2)
+          motor1 = throttle + 0.5*steering
+          motor2 = throttle - 0.5*steering
+        */          
+        float steering_scaled = channel_steer->norm_output();
+        float throttle_scaled = channel_throttle->norm_output();
+        float motor1 = throttle_scaled + 0.5*steering_scaled;
+        float motor2 = throttle_scaled - 0.5*steering_scaled;
+        channel_steer->servo_out = 4500*motor1;
+        channel_throttle->servo_out = 100*motor2;
+        channel_steer->calc_pwm();
+        channel_throttle->calc_pwm();
     }
 
 

APMrover2/commands_logic.pde

@@ -308,6 +308,7 @@ static void do_take_picture()
 {
 #if CAMERA == ENABLED
     camera.trigger_pic();
+    gcs_send_message(MSG_CAMERA_FEEDBACK);
     if (should_log(MASK_LOG_CAMERA)) {
         DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
     }

APMrover2/config.h

@@ -51,7 +51,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // sensor types
 
-#define CONFIG_INS_TYPE HAL_INS_DEFAULT
 #define CONFIG_BARO     HAL_BARO_DEFAULT
 #define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
 
@@ -69,8 +68,6 @@
 #if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
  #undef CONFIG_BARO
  #define CONFIG_BARO HAL_BARO_HIL
- #undef CONFIG_INS_TYPE
- #define CONFIG_INS_TYPE HAL_INS_HIL
  #undef  CONFIG_COMPASS
  #define CONFIG_COMPASS HAL_COMPASS_HIL
 #endif

APMrover2/radio.pde

@@ -12,6 +12,10 @@ static void set_control_channels(void)
 	// set rc channel ranges
 	channel_steer->set_angle(SERVO_MAX);
 	channel_throttle->set_angle(100);
+
+    // setup correct scaling for ESCs like the UAVCAN PX4ESC which
+    // take a proportion of speed. 
+    hal.rcout->set_esc_scaling(channel_throttle->radio_min, channel_throttle->radio_max);
 }
 
 static void init_rc_in()

APMrover2/release-notes.txt

+Release 2.47, November 15th 2014
+--------------------------------
+
+The ardupilot development team is proud to announce the release of 
+version 2.47 of APM:Rover. This is a minor bug fix release.  The most 
+important change in this release is the fixing of the skid steering 
+support but there have been a number of fixes in other areas as well.
+
+Full changes list for this release:
+
+  - add support for controlling safety switch on Pixhawk from ground station
+
+  - prevent reports of failed AHRS during initialisation
+
+  - fixed skid steering that was broken in the last release
+
+  - report gyro unhealthy if gyro calibration failed
+
+  - fixed dual sonar support in CLI sonar test
+
+  - fixed Nuttx crash on Pixhawk with bad I2C cables
+
+  - added GPS_SBAS_MODE parameter - turns on/off satellite based augemtation system for GPS
+
+  - added GPS_MIN_ELEV parameter - specifiy the elevation mask for GPS satellites
+
+  - added RELAY_DEFAULT parameter to control default of relay on startup
+
+  - fixed bug in FRAM storage on Pixhawk that could cause parameters changes not to be saved
+
+  - better handling of compass errors in the EKF (Extended Kalman Filter)
+
+  - improved support for linux based autopilots
+
+  - added support for PulsedLight LIDAR as a range finder
+
+Many thanks to everyone who contributed to this release, especially
+Tom Coyle and Linus Penzlien for their excellent testing and feedback.
+
+Happy driving!
+
+
+
+Release 2.46, August 26th 2014
+------------------------------
+
+The ardupilot development team is proud to announce the release of
+version 2.46 of APM:Rover. This is a major release with a lot of new
+features and bug fixes.
+
+This release is based on a lot of development and testing that
+happened prior to the AVC competition where APM based vehicles
+performed very well.
+
+Full changes list for this release:
+
+  - added support for higher baudrates on telemetry ports, to make it
+    easier to use high rate telemetry to companion boards. Rates of up
+    to 1.5MBit are now supported to companion boards.
+
+  - new Rangefinder code with support for a wider range of rangefinder
+    types including a range of Lidars (thanks to Allyson Kreft)
+
+  - added logging of power status on Pixhawk
+
+  - added PIVOT_TURN_ANGLE parameter for pivot based turns on skid
+    steering rovers
+
+  - lots of improvements to the EKF support for Rover, thanks to Paul
+    Riseborough and testing from Tom Coyle. Using the EKF can greatly
+    improve navigation accuracy for fast rovers. Enable with
+    AHRS_EKF_USE=1. 
+
+  - improved support for dual GPS on Pixhawk. Using a 2nd GPS can
+    greatly improve performance when in an area with an obstructed
+    view of the sky
+
+  - support for up to 14 RC channels on Pihxawk
+
+  - added BRAKING_PERCENT and BRAKING_SPEEDERR parameters for better
+    breaking support when cornering
+
+  - added support for FrSky telemetry via SERIAL2_PROTOCOL parameter
+    (thanks to Matthias Badaire)
+
+  - added support for Linux based autopilots, initially with the PXF
+    BeagleBoneBlack cape and the Erle robotics board. Support for more
+    boards is expected in future releases. Thanks to Victor, Sid and
+    Anuj for their great work on the Linux port. 
+
+  - added StorageManager library, which expands available FRAM storage
+    on Pixhawk to 16 kByte. This allows for 724 waypoints, 50 rally
+    points and 84 fence points on Pixhawk.
+
+  - improved reporting of magnetometer and barometer errors to the GCS
+
+  - fixed a bug in automatic flow control detection for serial ports
+    in Pixhawk
+
+  - fixed use of FMU servo pins as digital inputs on Pixhawk
+
+  - imported latest updates for VRBrain boards (thanks to Emile
+    Castelnuovo and Luca Micheletti)
+
+  - updates to the Piksi GPS support (thanks to Niels Joubert)
+
+  - improved gyro estimate in DCM (thanks to Jon Challinger)
+
+  - improved position projection in DCM in wind (thanks to Przemek
+    Lekston)
+
+  - several updates to AP_NavEKF for more robust handling of errors
+    (thanks to Paul Riseborough)
+
+  - lots of small code cleanups thanks to Daniel Frenzel
+
+  - initial support for NavIO board from Mikhail Avkhimenia
+
+  - fixed logging of RCOU for up to 12 channels (thanks to Emile
+    Castelnuovo)
+
+  - code cleanups from Silvia Nunezrivero
+
+  - improved parameter download speed on radio links with no flow
+    control
+
+Many thanks to everyone who contributed to this release, especially
+Tom Coyle and Linus Penzlien for their excellent testing and feedback.
+
+Happy driving!

APMrover2/setup.pde

@@ -341,9 +341,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 				mode != AUTO &&
 				mode != RTL) 
 			{
-				if (mode < MANUAL)
-					mode = RTL;
-				else if (mode > RTL)
+				if (mode > RTL)
 					mode = MANUAL;
 				else
 					mode += radioInputSwitch;
@@ -467,9 +465,13 @@ static void report_batt_monitor()
     //print_blanks(2);
     cliSerial->printf_P(PSTR("Batt Mointor\n"));
     print_divider();
-    if(battery.monitoring() == AP_BATT_MONITOR_DISABLED) cliSerial->printf_P(PSTR("Batt monitoring disabled"));
-    if(battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_ONLY) cliSerial->printf_P(PSTR("Monitoring batt volts"));
-    if(battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) cliSerial->printf_P(PSTR("Monitoring volts and current"));
+    if (battery.num_instances() == 0) {
+        cliSerial->printf_P(PSTR("Batt monitoring disabled"));
+    } else if (!battery.has_current()) {
+        cliSerial->printf_P(PSTR("Monitoring batt volts"));
+    } else {
+        cliSerial->printf_P(PSTR("Monitoring volts and current"));
+    }
     print_blanks(2);
 }
 static void report_radio()
@@ -652,7 +654,6 @@ radio_input_switch(void)
 
 static void zero_eeprom(void)
 {
-	uint8_t b = 0;
 	cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
     StorageManager::erase();
 	cliSerial->printf_P(PSTR("done\n"));

APMrover2/system.pde

@@ -189,10 +189,6 @@ static void init_ardupilot()
 	// Do GPS init
 	gps.init(&DataFlash);
 
-	//mavlink_system.sysid = MAV_SYSTEM_ID;				// Using g.sysid_this_mav
-	mavlink_system.compid = 1;	//MAV_COMP_ID_IMU;   // We do not check for comp id
-	mavlink_system.type = MAV_TYPE_GROUND_ROVER;
-
     rc_override_active = hal.rcin->set_overrides(rc_override, 8);
 
 	init_rc_in();		// sets up rc channels from radio
@@ -262,6 +258,7 @@ static void startup_ground(void)
     mission.init();
 
     hal.uartA->set_blocking_writes(false);
+    hal.uartB->set_blocking_writes(false);
     hal.uartC->set_blocking_writes(false);
 
 	gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to drive."));
@@ -324,6 +321,24 @@ static void set_mode(enum mode mode)
     }
 }
 
+/*
+  set_mode() wrapper for MAVLink SET_MODE
+ */
+static bool mavlink_set_mode(uint8_t mode)
+{
+    switch (mode) {
+    case MANUAL:
+    case HOLD:
+    case LEARNING:
+    case STEERING:
+    case AUTO:
+    case RTL:
+        set_mode((enum mode)mode);
+        return true;
+    }
+    return false;
+}
+
 /*
   called to set/unset a failsafe event. 
  */

APMrover2/test.pde

@@ -349,7 +349,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
     uint8_t medium_loopCounter = 0;
 
 	while(1){
-        ins.wait_for_sample(1000);
+        ins.wait_for_sample();
 
         ahrs.update();
 
@@ -371,9 +371,9 @@ test_ins(uint8_t argc, const Menu::arg *argv)
                             (uint16_t)ahrs.yaw_sensor / 100,
                             gyros.x, gyros.y, gyros.z,
                             accels.x, accels.y, accels.z);
-    }
-    if(cliSerial->available() > 0){
-        return (0);
+        if(cliSerial->available() > 0){
+            return (0);
+        }
     }
 }
 
@@ -409,7 +409,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
     uint8_t medium_loopCounter = 0;
 
     while(1) {
-        ins.wait_for_sample(1000);
+        ins.wait_for_sample();
         ahrs.update();
 
         medium_loopCounter++;
@@ -455,12 +455,15 @@ test_mag(uint8_t argc, const Menu::arg *argv)
 static int8_t
 test_sonar(uint8_t argc, const Menu::arg *argv)
 {
+    init_sonar();
+    delay(20);
+    sonar.update();
+
     if (!sonar.healthy()) {
         cliSerial->println_P(PSTR("WARNING: Sonar is not enabled"));
     }
 
     print_hit_enter();
-    init_sonar();
     
     float sonar_dist_cm_min = 0.0f;
     float sonar_dist_cm_max = 0.0f;
@@ -472,8 +475,9 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
 
 	while (true) {
         delay(20);
+        sonar.update();
         uint32_t now = millis();
-
+    
         float dist_cm = sonar.distance_cm(0);
         float voltage = sonar.voltage_mv(0);
         if (sonar_dist_cm_min == 0.0f) {

AntennaTracker/AntennaTracker.pde

 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "AntennaTracker V0.1"
+#define THISFIRMWARE "AntennaTracker V0.2"
 /*
    Lead developers: Matthew Ridley and Andrew Tridgell
  
@@ -62,6 +62,7 @@
 #include <AP_Airspeed.h>
 #include <RC_Channel.h>
 #include <AP_BoardConfig.h>
+#include <AP_OpticalFlow.h>
 
 // Configuration
 #include "config.h"
@@ -102,20 +103,6 @@ static AP_Scheduler scheduler;
 // notification object for LEDs, buzzers etc
 static AP_Notify notify;
 
-// tracking status for MAVLink
-static struct {
-    float bearing;
-    float distance;
-    float pitch;
-    float altitude_difference;
-    float altitude_offset;
-    bool manual_control_yaw:1;
-    bool manual_control_pitch:1;
-    bool need_altitude_calibration:1;
-    bool scan_reverse_pitch:1;
-    bool scan_reverse_yaw:1;
-} nav_status;
-
 static uint32_t start_time_ms;
 
 static bool usb_connected;
@@ -130,21 +117,7 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...);
 ////////////////////////////////////////////////////////////////////////////////
 static AP_GPS gps;
 
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;
@@ -154,33 +127,17 @@ static AP_Compass_VRBRAIN compass;
 static AP_Compass_HMC5843 compass;
 #elif CONFIG_COMPASS == HAL_COMPASS_HIL
 static AP_Compass_HIL compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
+static AP_Compass_AK8963_MPU9250 compass;
 #else
  #error Unrecognized CONFIG_COMPASS setting
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 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
@@ -196,8 +153,8 @@ SITL sitl;
 /**
    antenna control channels
  */
-static RC_Channel channel_yaw(CH_1);
-static RC_Channel channel_pitch(CH_2);
+static RC_Channel channel_yaw(CH_YAW);
+static RC_Channel channel_pitch(CH_PITCH);
 
 ////////////////////////////////////////////////////////////////////////////////
 // GCS selection
@@ -205,10 +162,6 @@ static RC_Channel channel_pitch(CH_2);
 static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
 static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
 
-// If proxy_mode is enabled, uartC is connected to a remote vehicle,
-// not gcs[1]
-static GCS_MAVLINK proxy_vehicle;
-
 // board specific config
 static AP_BoardConfig BoardConfig;
 
@@ -222,6 +175,45 @@ static struct   Location current_loc;
 // There are multiple states defined such as MANUAL, FBW-A, AUTO
 static enum ControlMode control_mode  = INITIALISING;
 
+////////////////////////////////////////////////////////////////////////////////
+// Vehicle state
+////////////////////////////////////////////////////////////////////////////////
+static struct {
+    bool location_valid;    // true if we have a valid location for the vehicle
+    Location location;      // lat, long in degrees * 10^7; alt in meters * 100
+    Location location_estimate; // lat, long in degrees * 10^7; alt in meters * 100
+    uint32_t last_update_us;    // last position update in micxroseconds
+    uint32_t last_update_ms;    // last position update in milliseconds
+    float heading;          // last known direction vehicle is moving
+    float ground_speed;     // vehicle's last known ground speed in m/s
+} vehicle;
+
+////////////////////////////////////////////////////////////////////////////////
+// Navigation controller state
+////////////////////////////////////////////////////////////////////////////////
+static struct {
+    float bearing;                  // bearing to vehicle in centi-degrees
+    float distance;                 // distance to vehicle in meters
+    float pitch;                    // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
+    float altitude_difference;      // altitude difference between tracker and vehicle in meters.  positive value means vehicle is above tracker
+    float altitude_offset;          // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
+    bool manual_control_yaw         : 1;// true if tracker yaw is under manual control
+    bool manual_control_pitch       : 1;// true if tracker pitch is manually controlled
+    bool need_altitude_calibration  : 1;// true if tracker altitude has not been determined (true after startup)
+    bool scan_reverse_pitch         : 1;// controls direction of pitch movement in SCAN mode
+    bool scan_reverse_yaw           : 1;// controls direction of yaw movement in SCAN mode
+} nav_status;
+
+////////////////////////////////////////////////////////////////////////////////
+// Servo state
+////////////////////////////////////////////////////////////////////////////////
+static struct {
+    bool yaw_lower      : 1;    // true if yaw servo has been limited from moving to a lower position (i.e. position or rate limited)
+    bool yaw_upper      : 1;    // true if yaw servo has been limited from moving to a higher position (i.e. position or rate limited)
+    bool pitch_lower    : 1;    // true if pitch servo has been limited from moving to a lower position (i.e. position or rate limited)
+    bool pitch_upper    : 1;    // true if pitch servo has been limited from moving to a higher position (i.e. position or rate limited)
+} servo_limit;
+
 /*
   scheduler table - all regular tasks apart from the fast_loop()
   should be listed here, along with how often they should be called
@@ -230,6 +222,7 @@ static enum ControlMode control_mode  = INITIALISING;
  */
 static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { update_ahrs,            1,   1000 },
+    { read_radio,             1,    200 },
     { update_tracking,        1,   1000 },
     { update_GPS,             5,   4000 },
     { update_compass,         5,   1500 },
@@ -257,9 +250,9 @@ void setup()
     // load the default values of variables listed in var_info[]
     AP_Param::setup_sketch_defaults();
 
-    // arduplane does not use arming nor pre-arm checks
-    AP_Notify::flags.armed = true;
+    // antenna tracker does not use pre-arm checks or battery failsafe
     AP_Notify::flags.pre_arm_check = true;
+    AP_Notify::flags.pre_arm_gps_check = true;
     AP_Notify::flags.failsafe_battery = false;
 
     notify.init(false);
@@ -275,9 +268,7 @@ void setup()
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
-        return;
-    }
+    ins.wait_for_sample();
 
     // tell the scheduler one tick has passed
     scheduler.tick();
@@ -296,10 +287,13 @@ static void one_second_loop()
     // sync MAVLink system ID
     mavlink_system.sysid = g.sysid_this_mav;
 
+    // updated armed/disarmed status LEDs
+    update_armed_disarmed();
+
     static uint8_t counter;
     counter++;
 
-    if (counter >= 60) {                                               
+    if (counter >= 60) {
         if(g.compass_enabled) {
             compass.save_offsets();
         }

AntennaTracker/GCS_Mavlink.pde

@@ -193,6 +193,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         gcs[chan-MAVLINK_COMM_0].send_gps_raw(gps);
         break;
 
+    case MSG_RADIO_IN:
+        CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
+        gcs[chan-MAVLINK_COMM_0].send_radio_in(0);
+        break;
+
     case MSG_RADIO_OUT:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
         send_radio_out(chan);
@@ -249,12 +254,16 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
     case MSG_RETRY_DEFERRED:
     case MSG_CURRENT_WAYPOINT:
     case MSG_VFR_HUD:
-    case MSG_RADIO_IN:
     case MSG_SYSTEM_TIME:
     case MSG_LIMITS_STATUS:
     case MSG_FENCE_STATUS:
     case MSG_WIND:
     case MSG_RANGEFINDER:
+    case MSG_TERRAIN:
+    case MSG_BATTERY2:
+    case MSG_CAMERA_FEEDBACK:
+    case MSG_MOUNT_STATUS:
+    case MSG_OPTICAL_FLOW:
         break; // just here to prevent a warning
     }
     return true;
@@ -418,6 +427,7 @@ GCS_MAVLINK::data_stream_send(void)
     }
 
     if (stream_trigger(STREAM_RC_CHANNELS)) {
+        send_message(MSG_RADIO_IN);
         send_message(MSG_RADIO_OUT);
     }
 
@@ -432,73 +442,41 @@ GCS_MAVLINK::data_stream_send(void)
     }
 }
 
-void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
+/*
+  We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
+  MAVLINK_MSG_ID_SCALED_PRESSUREs
+*/
+void mavlink_snoop(const mavlink_message_t* msg)
 {
-    if (g.proxy_mode == true)
+    switch (msg->msgid) {
+    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
     {
-        if (chan == proxy_vehicle.chan)
-        {
-            // From the remote vehicle.
-            // All messages from the remote are proxied to GCS
-            // We also eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and MAVLINK_MSG_ID_SCALED_PRESSUREs
-
-            switch (msg->msgid)
-            {
-                case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: 
-                {
-                    // decode
-                    mavlink_global_position_int_t packet;
-                    mavlink_msg_global_position_int_decode(msg, &packet);
-                    tracking_update_position(packet);
-                    break;
-                }
-                
-                case MAVLINK_MSG_ID_SCALED_PRESSURE: 
-                {
-                    // decode
-                    mavlink_scaled_pressure_t packet;
-                    mavlink_msg_scaled_pressure_decode(msg, &packet);
-                    tracking_update_pressure(packet);
-                    break;
-                }
-            }
-            // Proxy to all the GCS stations
-            for (uint8_t i=0; i<num_gcs; i++) {
-                if (gcs[i].initialised) {
-                    mavlink_channel_t out_chan = (mavlink_channel_t)i;
-                    // only forward if it would fit in the transmit buffer
-                    if (comm_get_txspace(out_chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
-                        _mavlink_resend_uart(out_chan, msg);
-                    }
-                }
-            }
-        }
-        // Else its from the GCS, and it might be for the remote and.or it might be for the tracker
-        // So we fall through to the below
+        // decode
+        mavlink_global_position_int_t packet;
+        mavlink_msg_global_position_int_decode(msg, &packet);
+        tracking_update_position(packet);
+        break;
     }
+    
+    case MAVLINK_MSG_ID_SCALED_PRESSURE:
+    {
+        // decode
+        mavlink_scaled_pressure_t packet;
+        mavlink_msg_scaled_pressure_decode(msg, &packet);
+        tracking_update_pressure(packet);
+        break;
+    }
+    }
+}
 
-
+void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
+{
     switch (msg->msgid) {
 
     // If we are currently operating as a proxy for a remote, 
     // alas we have to look inside each packet to see if its for us or for the remote
     case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_request_data_stream_t packet;
-            mavlink_msg_request_data_stream_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_request_data_stream(msg, true);
         break;
     }
@@ -506,92 +484,30 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_param_request_list_t packet;
-            mavlink_msg_param_request_list_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_param_request_list(msg);
         break;
     }
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_param_request_read_t packet;
-            mavlink_msg_param_request_read_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_param_request_read(msg);
         break;
     }
 
     case MAVLINK_MSG_ID_PARAM_SET:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_param_set_t packet;
-            mavlink_msg_param_set_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_param_set(msg, NULL);
         break;
     }
 
     case MAVLINK_MSG_ID_HEARTBEAT:
-    {
-        // Heartbeats are always proxied to the remote and also handled locally
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
-        if (msg->sysid != g.sysid_my_gcs) break;
         break;
-    }
 
     case MAVLINK_MSG_ID_COMMAND_LONG:
     {
         // decode
         mavlink_command_long_t packet;
         mavlink_msg_command_long_decode(msg, &packet);
-        if (mavlink_check_target(packet.target_system, packet.target_component)) {
-            // Its for the remote, proxy it
-            if (g.proxy_mode == true && proxy_vehicle.initialised) {
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-            }
-            break;
-        }
         
         uint8_t result = MAV_RESULT_UNSUPPORTED;
         
@@ -695,14 +611,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         // decode
         mavlink_mission_write_partial_list_t packet;
         mavlink_msg_mission_write_partial_list_decode(msg, &packet);
-        if (mavlink_check_target(packet.target_system,packet.target_component)) {
-            if (g.proxy_mode == true && proxy_vehicle.initialised) {
-                // Its for the remote, proxy it
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-            }
-            break;
-        }
         if (packet.start_index == 0)
         {
             // New home at wp index 0. Ask for it
@@ -723,14 +631,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         uint8_t result = MAV_MISSION_ACCEPTED;
 
         mavlink_msg_mission_item_decode(msg, &packet);
-        if (mavlink_check_target(packet.target_system,packet.target_component)) {
-            if (g.proxy_mode == true && proxy_vehicle.initialised) {
-                // Its for the remote, proxy it
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-            }
-            break;
-        }
 
         struct Location tell_command = {};
 
@@ -813,13 +713,6 @@ mission_failed:
     {
         mavlink_manual_control_t packet;
         mavlink_msg_manual_control_decode(msg, &packet);
-
-        if (g.proxy_mode == true && proxy_vehicle.initialised) {
-            // Also proxy it to the remote
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
-        if(msg->sysid != g.sysid_my_gcs) break;                         // Only accept control from our gcs
         tracking_manual_control(packet);
         break;
     }
@@ -829,11 +722,6 @@ mission_failed:
         // decode
         mavlink_global_position_int_t packet;
         mavlink_msg_global_position_int_decode(msg, &packet);
-        if (g.proxy_mode == true && proxy_vehicle.initialised) {
-            // Also proxy it to the remote
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
         tracking_update_position(packet);
         break;
     }
@@ -843,41 +731,13 @@ mission_failed:
         // decode
         mavlink_scaled_pressure_t packet;
         mavlink_msg_scaled_pressure_decode(msg, &packet);
-        if (g.proxy_mode == true && proxy_vehicle.initialised) {
-            // Also proxy it to the remote
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
         tracking_update_pressure(packet);
         break;
     }
 
     case MAVLINK_MSG_ID_SET_MODE:
     {
-        // decode
-        mavlink_set_mode_t packet;
-        mavlink_msg_set_mode_decode(msg, &packet);
-        if (g.proxy_mode == true && proxy_vehicle.initialised) {
-            // Also proxy it to the remote
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
-
-        if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
-            // we ignore base_mode as there is no sane way to map
-            // from that bitmap to a APM flight mode. We rely on
-            // custom_mode instead.
-            break;
-        }
-        switch (packet.custom_mode) {
-        case MANUAL:
-        case STOP:
-        case SCAN:
-        case AUTO:
-            set_mode((enum ControlMode)packet.custom_mode);
-            break;
-        }
-
+        handle_set_mode(msg, mavlink_set_mode);
         break;
     }
 
@@ -887,14 +747,6 @@ mission_failed:
         break;
 #endif
 
-    default:
-        // Proxy all other messages to the remote
-        if (g.proxy_mode && proxy_vehicle.initialised) {
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
-        break;
-
     } // end switch
 } // end handle mavlink
 
@@ -965,10 +817,6 @@ static void gcs_update(void)
             gcs[i].update(NULL);
         }
     }
-    // Also check for messages from the remote if we are in proxy mode
-    if (g.proxy_mode == true && proxy_vehicle.initialised) {
-        proxy_vehicle.update(NULL);
-    }
 }
 
 static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)

AntennaTracker/Parameters.h

@@ -80,7 +80,7 @@ public:
         k_param_BoardConfig,
         k_param_gps,
         k_param_scan_speed,
-        k_param_proxy_mode,
+        k_param_proxy_mode_unused, // deprecated
         k_param_servo_type,
         k_param_onoff_yaw_rate,
         k_param_onoff_pitch_rate,
@@ -88,6 +88,8 @@ public:
         k_param_onoff_pitch_mintime,
         k_param_yaw_trim,
         k_param_pitch_trim,
+        k_param_yaw_range,
+        k_param_pitch_range,            // 136
 
         k_param_channel_yaw = 200,
         k_param_channel_pitch,
@@ -124,7 +126,6 @@ public:
     AP_Float start_longitude;
 
     AP_Float startup_delay;
-    AP_Int8  proxy_mode;
     AP_Int8  servo_type;
     AP_Float onoff_yaw_rate;
     AP_Float onoff_pitch_rate;
@@ -132,6 +133,8 @@ public:
     AP_Float onoff_pitch_mintime;
     AP_Float yaw_trim;
     AP_Float pitch_trim;
+    AP_Int16 yaw_range;             // yaw axis total range of motion in degrees
+    AP_Int16 pitch_range;           // pitch axis total range of motion in degrees
 
     // Waypoints
     //

AntennaTracker/Parameters.pde

@@ -122,19 +122,10 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(startup_delay,          "STARTUP_DELAY",   0),
 
-    // @Param: PROXY_MODE
-    // @DisplayName: Also act as a MAVLink proxy for a vehicle
-    // @Description: If true, the tracker will act as a MAVlink proxy for a remote vehicle, and will eavesdrop vehicle position reports. 
-    // @Units: boolean
-    // @Increment: 1
-    // @Range: 0 1
-    // @User: Standard
-    GSCALAR(proxy_mode,          "PROXY_MODE",   0),
-
     // @Param: SERVO_TYPE
     // @DisplayName: Type of servo system being used
     // @Description: This allows selection of position servos or on/off servos
-    // @Values: Position:0,OnOff:1
+    // @Values: 0:Position,1:OnOff
     // @User: Standard
     GSCALAR(servo_type,          "SERVO_TYPE",   SERVO_TYPE_POSITION),
 
@@ -192,6 +183,24 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(pitch_trim,              "PITCH_TRIM", 0),
 
+    // @Param: YAW_RANGE
+    // @DisplayName: Yaw Angle Range
+    // @Description: Yaw axis total range of motion in degrees
+    // @Units: degrees
+    // @Increment: 0.1
+    // @Range: 0 360
+    // @User: Standard
+    GSCALAR(yaw_range,              "YAW_RANGE", YAW_RANGE_DEFAULT),
+
+    // @Param: PITCH_RANGE
+    // @DisplayName: Pitch Range
+    // @Description: Pitch axis total range of motion in degrees
+    // @Units: degrees
+    // @Increment: 0.1
+    // @Range: 0 180
+    // @User: Standard
+    GSCALAR(pitch_range,            "PITCH_RANGE", PITCH_RANGE_DEFAULT),
+
     // barometer ground calibration. The GND_ prefix is chosen for
     // compatibility with previous releases of ArduPlane
     // @Group: GND_

AntennaTracker/config.h

@@ -17,7 +17,6 @@
 #define ENABLE ENABLED
 #define DISABLE DISABLED
 
-#define CONFIG_INS_TYPE HAL_INS_DEFAULT
 #define CONFIG_BARO     HAL_BARO_DEFAULT
 #define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
 
@@ -55,6 +54,37 @@
  # define SERIAL2_BUFSIZE 256
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// RC Channel definitions
+//
+#ifndef CH_YAW
+ # define CH_YAW        CH_1    // RC input/output for yaw on channel 1
+#endif
+#ifndef CH_PITCH
+ # define CH_PITCH      CH_2    // RC input/output for pitch on channel 2
+#endif
+
+
+//////////////////////////////////////////////////////////////////////////////
+// yaw and pitch axis angle range defaults
+//
+#ifndef YAW_RANGE_DEFAULT
+ # define YAW_RANGE_DEFAULT 360
+#endif
+#ifndef PITCH_RANGE_DEFAULT
+ # define PITCH_RANGE_DEFAULT 180
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+// Tracking definitions
+//
+#ifndef TRACKING_TIMEOUT_MS
+ # define TRACKING_TIMEOUT_MS               5000    // consider we've lost track of vehicle after 5 seconds with no position update.  Used to update armed/disarmed status leds
+#endif
+#ifndef TRACKING_TIMEOUT_SEC
+ # define TRACKING_TIMEOUT_SEC              5.0f    // consider we've lost track of vehicle after 5 seconds with no position update.
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //

AntennaTracker/control_auto.pde

+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/*
+ * control_auto.pde - auto control mode
+ */
+
+/*
+ * update_auto - runs the auto controller
+ *  called at 50hz while control_mode is 'AUTO'
+ */
+static void update_auto(void)
+{
+    // exit immediately if we do not have a valid vehicle position
+    if (!vehicle.location_valid) {
+        return;
+    }
+
+    float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f;
+    float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90);
+    update_pitch_servo(pitch);
+    update_yaw_servo(yaw);
+}